CN116652993B - Mechanical finger base joint, mechanical finger and mechanical arm - Google Patents
Mechanical finger base joint, mechanical finger and mechanical arm Download PDFInfo
- Publication number
- CN116652993B CN116652993B CN202310939815.5A CN202310939815A CN116652993B CN 116652993 B CN116652993 B CN 116652993B CN 202310939815 A CN202310939815 A CN 202310939815A CN 116652993 B CN116652993 B CN 116652993B
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- box body
- manipulator
- mechanical finger
- mechanical
- rotary driving
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- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000008093 supporting effect Effects 0.000 claims description 7
- 238000003754 machining Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 230000002411 adverse Effects 0.000 abstract description 4
- 210000003811 finger Anatomy 0.000 description 76
- 238000009434 installation Methods 0.000 description 25
- 238000010168 coupling process Methods 0.000 description 9
- 238000005859 coupling reaction Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 9
- 230000008878 coupling Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical finger base joint, a mechanical finger and a mechanical hand, and relates to the technical field of robots. The mechanical finger-based joint is provided with the box body as the shell of the mechanical finger-based joint, the output end of the rotary driving piece can be placed into the box body through the mounting opening, the driving connection of the rotary driving piece and the transmission mechanism is realized, the stable driving of the mechanical finger is ensured, the side wall corresponding to the mounting opening on the box body is of a flexible structure, the flexible structure can deform along the radial direction of the mounting opening, the assembly difficulty between the mounting opening and the rotary driving piece due to the machining error can be eliminated under the condition that the machining error exists, and the assembly difficulty of the transmission mechanism and the rotary driving piece due to the assembly error of the transmission mechanism can be eliminated under the condition that the assembly error exists, so that the adverse effect of the error on the assembly of the parts of the mechanical finger-based joint is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical finger base joint, a mechanical finger and a mechanical hand.
Background
At present, the manipulator is widely applied, and is generally assembled by zero parts, and a large number of parts are required for assembly, and in the production and manufacturing process of the parts, machining errors may exist in part of the parts, and in the assembly process of the manipulator, assembly errors may also exist.
Therefore, in the preparation process of the parts and the assembly process of the manipulator, the assembly of the whole manipulator may be adversely affected due to the existence of processing errors and assembly errors, for example, the finger-based joint of the manipulator is a main structure for driving the finger to rotate, the inner space of the shell is limited, the requirement on the assembly precision of the inner parts is high, the situation that the parts of the finger-based joint cannot be matched in the shell easily occurs, and the manipulator assembly is difficult.
Disclosure of Invention
The problem to be solved by the invention is how to reduce the adverse effect of errors on the assembly of parts of the mechanical finger-based joint.
In one aspect, to solve the above-mentioned problems, the present invention provides a mechanical finger-based joint, comprising:
the box body is provided with a transmission mechanism, and the output end of the transmission mechanism is connected with a near knuckle of the mechanical finger;
the output end of the rotary driving piece is arranged in the box body through the mounting opening and is in driving connection with the input end of the transmission mechanism;
the transmission mechanism comprises a worm gear assembly, a gear assembly and a coupler, wherein the output end of the rotary driving piece is in driving connection with the worm gear assembly through the gear assembly, the worm gear assembly is rotatably installed on the box body, the output end of the worm gear assembly is fixedly connected with the near knuckle, the gear assembly further comprises a first bevel gear and a second bevel gear, the worm gear assembly comprises a worm wheel and a worm, the output end of the rotary driving piece is in driving connection with the first bevel gear through the coupler, a bearing is arranged in the box body, the coupler is rotatably installed in the box body through at least two bearings, the first bevel gear is meshed with the second bevel gear, the second bevel gear is in driving connection with the worm, the worm is rotatably installed in the box body and meshed with the worm wheel, and the worm wheel is rotatably installed on the box body and is fixedly connected with the near knuckle;
the rotary driving piece is used for driving the mechanical finger to rotate through the transmission mechanism, the side wall of the mounting opening is of a flexible structure, the flexible structure is used for being deformed along the radial direction of the mounting opening, grooves are formed in the side wall of the mounting opening, the grooves extend around the circumference of the side wall of the mounting opening, and a plurality of grooves are arranged at intervals along the loading and unloading direction of the rotary driving piece and distributed in a staggered mode to form the flexible structure.
Compared with the prior art, the mechanical finger-based joint has the beneficial effects that: the box body is arranged as a shell of the base joint of the mechanical finger, the box body is provided with a transmission mechanism, the output end of the transmission mechanism can be connected with the near knuckle of the mechanical finger, the rotary driving force can be conveniently received, the rotary driving force is transmitted to the near knuckle, and the mechanical finger is driven. On the basis, a rotary driving piece is further arranged and used for providing rotary driving force, an installation opening is arranged at one end, corresponding to the input end of the transmission mechanism, of the box body, the output end of the rotary driving piece can be placed into the box body through the installation opening, accordingly, the output end of the rotary driving piece corresponds to the input end of the transmission mechanism, driving connection of the rotary driving piece and the transmission mechanism is achieved, accordingly, the rotary driving piece can be input to the transmission mechanism through the rotary driving piece, stable driving of a mechanical finger is guaranteed, the side wall, corresponding to the installation opening, of the box body is of a flexible structure, the flexible structure can deform along the radial direction of the installation opening, when the output end of the rotary driving piece penetrates into the installation opening under the condition that machining errors exist, radial deformation of the installation opening and the rotary driving piece can be eliminated, under the condition that assembly errors exist in the transmission mechanism exist, the side wall of the installation opening can be radially extruded, the output end of the rotary driving piece can be aligned with the input end of the transmission mechanism, assembly errors of the transmission mechanism can be eliminated, assembly errors of the transmission mechanism and the mechanical finger due to the fact that the assembly errors are not influenced by the mechanical finger is further reduced, and the assembly errors of the mechanical finger due to the fact that the assembly errors are not easy to the mechanical joint is reduced. In addition, the integrated design of the rotary driving piece and the box body can also effectively reduce the installation size required by the length direction of the rotary driving piece, so that the volume of the mechanical finger base joint can be effectively reduced, and the miniaturized design requirement of the mechanical arm can be met to a certain extent.
Optionally, a locking hoop is arranged on the outer side wall of the mounting opening, two ends of the locking hoop are connected through a threaded connecting piece, and the threaded connecting piece is used for adjusting the inner diameter of the locking hoop so as to be mutually extruded or separated with the outer side wall of the mounting opening.
On the other hand, the invention also provides a mechanical finger, which comprises a proximal knuckle and the mechanical finger base joint.
Compared with the prior art, the mechanical finger has the same beneficial effects as the mechanical finger base joint, and the description is omitted here.
In yet another aspect, the present invention also provides a manipulator comprising a manipulator palm and a manipulator finger as described above, the manipulator finger being mounted on the manipulator palm.
Compared with the prior art, the mechanical arm has the same beneficial effects as the mechanical arm, and the beneficial effects are not repeated here.
Optionally, the mechanical palm is hollow structure, be equipped with the interface on the mechanical palm, the lateral wall of the box of the mechanical finger base joint of mechanical finger is equipped with the support step, the rotation driving piece of mechanical finger base joint passes the interface, arranges in the mechanical palm, the box penetrates the interface, the support step orientation the terminal surface of mechanical palm be used for with the border of interface offsets.
Drawings
FIG. 1 is a schematic view of a mechanical finger-based joint according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mechanical finger according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a manipulator according to an embodiment of the present invention.
Reference numerals illustrate:
1-a box body; 11-mounting port; 111-grooves; 112-locking anchor ear; 113-a threaded connection; 12-a bearing; 13-supporting steps; 2-a transmission mechanism; 21-a worm gear assembly; 211-worm gear; 212-worm; 22-gear assembly; 221-a first bevel gear; 222-a second bevel gear; a 23-coupling; 3-a rotary drive; 4-proximal knuckle; 5-mechanical palm; 51-plug-in interface.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the coordinate system XYZ provided herein, the forward direction of the X axis represents the right direction, the reverse direction of the X axis represents the left direction, the forward direction of the Y axis represents the rear direction, the reverse direction of the Y axis represents the front direction, the forward direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In one aspect, an embodiment of the present invention provides a finger-based joint, including: the box body 1, the box body 1 is provided with a transmission mechanism 2, and the output end of the transmission mechanism 2 is connected with a finger joint 4 of the mechanical finger; the rotary driving piece 3, one end of the box body 1 corresponding to the input end of the transmission mechanism 2 is provided with a mounting port 11, and the output end of the rotary driving piece 3 is arranged in the box body 1 through the mounting port 11 and is in driving connection with the input end of the transmission mechanism 2; the transmission mechanism 2 comprises a worm and gear assembly 21, a gear assembly 22 and a coupler 23, the output end of the rotary driving piece 3 is in driving connection with the worm and gear assembly 21 through the gear assembly 22, the worm and gear assembly 21 is rotatably installed on the box body 1, the output end of the worm and gear assembly 21 is fixedly connected with the near knuckle 4, the gear assembly 22 further comprises a first bevel gear 221 and a second bevel gear 222, the worm and gear assembly 21 comprises a worm gear 211 and a worm 212, the output end of the rotary driving piece 3 is in driving connection with the first bevel gear 221 through the coupler 23, a bearing 12 is arranged in the box body 1, the coupler 23 is rotatably installed in the box body 1 through at least two bearings 12, the first bevel gear 221 is meshed with the second bevel gear 222, the second bevel gear 222 is in driving connection with the worm 212, the worm 212 is rotatably installed in the box body 1 and meshed with the worm gear 211, and the worm gear 211 is rotatably installed on the box body 1 and is fixedly connected with the near knuckle 4; the rotary driving piece 3 is used for driving the mechanical finger to rotate through the transmission mechanism 2, the side wall of the mounting opening 11 is of a flexible structure, the flexible structure is used for deforming along the radial direction of the mounting opening 11, the side wall of the mounting opening 11 is provided with grooves 111, the grooves 111 extend around the circumference of the side wall of the mounting opening 11, and the grooves 111 are arranged at intervals along the loading and unloading direction of the rotary driving piece 3 and distributed in a staggered manner to form the flexible structure.
As shown in fig. 1, the radial direction of the mounting port 11 is parallel to the XY plane.
It should be noted that, as shown in fig. 2, the plurality of mechanical fingers of the manipulator can all bend, and the mechanical finger is driven to bend, that is, the mechanical finger base joint in driving connection with the proximal knuckle 4 of the mechanical finger, the current mechanical finger base joint generally completes the bending driving of the mechanical finger by outputting the rotational driving force, and the output end of the output power structure of the rotational driving force needs to be installed into the housing of the mechanical finger base joint to complete the driving connection of the output end and the transmission structure of the rotational driving force in the housing.
Therefore, as shown in fig. 1, in this embodiment, the case 1 is provided as a housing of the mechanical finger-based joint, and the transmission mechanism 2 is provided on the case 1, and an output end of the transmission mechanism 2 may be connected with the proximal knuckle 4 of the mechanical finger, so as to facilitate receiving the rotational driving force and transmitting the rotational driving force to the proximal knuckle 4, thereby realizing driving of the mechanical finger. On the basis, a rotary driving piece 3 is further arranged and used for providing rotary driving force, a mounting opening 11 is arranged at one end of the box body 1 corresponding to the input end of the transmission mechanism 2, the output end of the rotary driving piece 3 can be inserted into the box body 1 through the mounting opening 11, so that the output end of the rotary driving piece 3 corresponds to the input end of the transmission mechanism 2, driving connection of the rotary driving piece 3 and the transmission mechanism 2 is realized, the rotary driving force can be input to the transmission mechanism 2 through the rotary driving piece 3, stable driving of a mechanical finger is ensured, the side wall of the box body 1 corresponding to the mounting opening 11 is of a flexible structure, the flexible structure can deform along the radial direction of the mounting opening 11, and in the case of machining errors, the mounting opening 11 can deform radially, assembly difficulties between the mounting opening 11 and the rotary driving piece 3 due to the machining errors are eliminated, the side wall of the rotary driving piece 3 can squeeze the side wall of the mounting opening 11 radially under the condition that the transmission mechanism 2 has assembly errors, assembly difficulties of the rotary driving piece 3 and the transmission mechanism 2 can be reduced, and assembly errors of the mechanical finger can be further reduced, and the assembly of the mechanical finger 2 is completed. In addition, the integrated design of the rotary driving piece 3 and the box body 1 can also effectively reduce the installation size required by the rotary driving piece 3 in the length direction, so that the volume of the mechanical finger base joint can be effectively reduced, and the miniaturized design requirement of the mechanical arm can be met to a certain extent.
In order to ensure that the side wall of the mounting opening 11 is of a flexible structure, as shown in fig. 1 and 2, in this embodiment, a groove 111 is provided on the side wall of the mounting opening 11, the groove 111 may extend around the circumference of the side wall of the mounting opening 11, so as to reduce the thickness of the side wall of the mounting opening 11, and when the side wall of the mounting opening 11 is subjected to radial extrusion force, the connection between the side wall of the mounting opening 11 and the groove 111 may deform, so that the flexibility of the side wall of the mounting opening 11 is effectively improved.
In order to improve the stability of power transmission while guaranteeing the power transmission requirement of the transmission mechanism 2, as shown in fig. 1, a worm gear assembly 21 and a gear assembly 22 are arranged to form the transmission mechanism 2, wherein the output end of the rotary driving piece 3 is in driving connection with the worm gear assembly 21 through the gear assembly 22, the output end of the worm gear assembly 21 is fixedly connected with the proximal knuckle 4, power can be transmitted to the worm gear assembly 21 through the gear assembly 22, and finally the proximal knuckle 4 is driven to rotate, so that the power transmission requirement from the rotary driving piece 3 to the proximal knuckle 4 is met. Meanwhile, as the worm and gear assembly 21 has unidirectionality of power transmission, namely has a self-locking effect, driving force can only be transmitted to the proximal knuckle 4 by the worm and gear assembly 21, and reset rotation of the proximal knuckle 4 can not transmit power to the gear assembly 22 by the worm and gear assembly 21, so that the stability of power transmission is ensured, and influence of reset rotation of the proximal knuckle 4 on the gear assembly 22 and the rotary driving piece 3 is avoided.
Specifically, in this embodiment, as shown in fig. 1, a worm gear 211 and a worm 212 are provided to form a worm gear assembly 21, wherein the worm 212 is meshed with the worm gear 211, the worm 212 is rotatably installed in the case 1 and is in driving connection with the gear assembly 22, the rotation driving member 3 can transmit rotation power to the worm 212 through the gear assembly 22, the worm 212 is driven to rotate, the worm gear 211 is also rotatably installed on the case 1, the rotation of the worm 212 can drive the rotation of the worm gear 211, the worm gear 211 is fixedly connected with the proximal knuckle 4, and finally the proximal knuckle 4 is driven to rotate.
In addition, there is a need for an automation operation that has a limitation on some working spaces, and a higher requirement is placed on a miniaturized design of the manipulator. Therefore, in this embodiment, as shown in fig. 1, a first bevel gear 221 and a second bevel gear 222 meshed with each other are provided, where the first bevel gear 221 is coaxially connected with the output end of the rotary driving member 3, and the second bevel gear 222 is drivingly connected with the worm gear assembly 21, and the first bevel gear 221 and the second bevel gear 222 are respectively provided along the horizontal direction and the vertical direction, so that not only can the rotation force output by the output end of the rotary driving member 3 be stably transmitted to the worm gear assembly 21, but also the volume of the gear assembly 22 can be reduced, and since the gear assembly 22 is installed in the box 1, the internal space requirement of the box 1 can be reduced, and then the box 1 with smaller volume can be used, which is beneficial to meeting the requirement of the miniaturized design of the manipulator.
In order to ensure stable transmission of the rotational driving force and further meet the requirements of the miniaturized design of the manipulator, in the embodiment, as shown in fig. 1, a coupler 23 is arranged between the rotational driving member 3 and the gear assembly 22, wherein the coupler 23 is coaxially connected with the rotational driving member 3 and is connected with the gear assembly 22, so that the rotational driving member 3 can transmit the rotational driving force to the gear assembly 22 through the coupler 23 to ensure stable transmission of the rotational driving force, and in addition, the arrangement of the coupler 23 can enable the rotational driving members 3 of different types to be in driving connection with the gear assembly 22, so that the miniaturized rotational driving member 3 can be in driving connection with the gear assembly 22 through the coupler 23 and further meet the requirements of the miniaturized design of the manipulator.
In the present embodiment, the rotary driving element 3 is a servo motor.
The case 1 is made of a metal material, for example, an aluminum alloy.
As shown in fig. 1, the attaching/detaching direction of the rotary driver 3 is the Z-axis direction.
In the present embodiment, as shown in fig. 2, when the groove 111 extends along the circumferential direction of the sidewall of the mounting hole 11, the extending path is arc-shaped, and the number of central angles is less than 360 degrees.
In this embodiment, as shown in fig. 2, one side of the proximal knuckle 4 facing away from the rotation direction is connected with the case 1 through an elastic connection member, when the rotation driving member 3 drives the proximal knuckle 4 to rotate through the gear assembly 22 and the worm gear assembly 21, the elastic connection member is in a stretched state, and when the proximal knuckle 4 needs to be reset, the rotation driving member 3 stops outputting the driving force, the elastic connection member outputs the elastic force, and the proximal knuckle 4 is pulled to rotate reversely, so as to complete the reset. The elastic connection is, for example, a spring.
In this embodiment, as shown in fig. 1, both ends of the worm 212 are mounted on the case 1 through bearings, and the axial movement of the worm 212 and the bearings is limited by bearing end caps, so as to ensure the stability of the worm 212 during rotation.
As shown in fig. 1 and 2, a base joint shaft is extended on the case 1 along a direction perpendicular to the length direction of the worm 212, the base joint shaft is fixedly connected with the case 1, the worm wheel 211 is coaxially and rotatably connected with the base joint shaft through a bearing, and the worm wheel 211 can be driven to rotate by the worm 212 under the supporting action of the base joint shaft, and finally, the proximal knuckle 4 is driven to rotate.
It should be noted that, an angular position sensor is further disposed on the case 1, an inner ring of the angular position sensor is connected with the base joint shaft, and an outer ring of the angular position sensor is connected with the proximal knuckle 4, so that when the proximal knuckle 4 rotates under the drive of the worm wheel 211, the inner ring of the angular position sensor is stationary, and the outer ring of the angular position sensor moves along with the rotation of the proximal knuckle, so that an angular difference is generated between the inner ring and the outer ring of the angular position sensor, thereby causing a resistance change of the angular position sensor, and obtaining a rotation angle of the whole mechanical finger.
It should be noted that, in this embodiment, the second bevel gear 222 is coaxially connected with the worm 212 of the worm gear and worm assembly 21, specifically, as shown in fig. 1, the second bevel gear 222 is sleeved on the worm 212, and key slots are respectively formed on the outer wall of the worm 212 and the inner wall of the second bevel gear 222, and the key slots are used for embedding connection keys, so that the coaxial connection between the second bevel gear 222 and the worm 212 is realized, and the second bevel gear 222 stably transmits the rotation driving force to the worm 212.
It should be noted that, as shown in fig. 1, the coupling 23 is provided with a mounting through hole, a side wall of the mounting through hole is provided with a limit groove, the output end of the rotary driving member 3 can be placed in the mounting through hole to realize coaxial connection with the coupling 23, and the protrusion at the tail end of the output end of the rotary driving member 3 can also be embedded into the limit groove to realize stable connection between the coupling 23 and the rotary driving member 3.
It should be noted that, in this embodiment, as shown in fig. 1, the coupling 23 is coaxially connected with the first bevel gear 221 of the gear assembly 22, specifically, the first bevel gear 221 is sleeved and fixed on the coupling 23 through a connecting key, and the coupling 23 is rotatably installed in the case 1 through two bearings which are serially arranged, and the two bearings are serially arranged to bear a higher bending moment generated by the transmission of the first bevel gear 221, so as to ensure the stability of the transmission of the rotational driving force.
In the present embodiment, the coupling 23 is a rigid structure, and in other embodiments of the present invention, the coupling 23 may be a cross structure.
Optionally, a locking hoop 112 is disposed on the outer side wall of the mounting opening 11, two ends of the locking hoop 112 are connected through a threaded connecting piece 113, and the threaded connecting piece 113 is used for adjusting the inner diameter of the locking hoop 112 so as to be mutually extruded or separated from the outer side wall of the mounting opening 11.
In order to ensure the stability of the installation of the rotation driving piece 3 on the box body 1, as shown in fig. 1 and 2, a locking hoop 112 is arranged on the outer side wall of the installation opening 11, the locking hoop 112 can be sleeved on the outer side wall of the installation opening 11, two ends of the locking hoop 112 are connected through a threaded connecting piece 113, and the inner diameter of the locking hoop 112 can be adjusted through screwing in and screwing out of the threaded connecting piece 113, so that the extrusion of the outer side wall of the installation opening 11 or the separation of the outer side wall of the installation opening 11 is realized, when the rotation driving piece 3 is installed, the threaded connecting piece 113 can be screwed out, the inner diameter of the locking hoop 112 is increased and separated from the outer side wall of the installation opening 11, the installation of the rotation driving piece 3 is facilitated, after the rotation driving piece 3 is assembled, the inner diameter of the locking hoop 112 can be reduced, the outer side wall of the installation opening 11 is extruded, the clamping and the rotation driving piece 3 is ensured, and the installation stability of the rotation driving piece 3 is ensured while the adverse influence of errors on the assembly of the parts of the mechanical finger base joint is reduced.
The screw connection 113 is a bolt.
In another aspect, an embodiment of the present invention provides a mechanical finger, including the proximal knuckle 4 and the above-mentioned mechanical finger-based joint.
As shown in fig. 1 and 2, the technical effects of the mechanical finger in this embodiment are similar to those of the above-mentioned mechanical finger-based joints, and will not be described again.
In yet another aspect, an embodiment of the present invention provides a manipulator, including the mechanical palm 5 and the mechanical fingers described above, where the mechanical fingers are mounted on the mechanical palm 5.
As shown in fig. 1 and 2, the technical effects of the mechanical finger in the present embodiment are similar to those of the above-described mechanical finger-based joints.
Further, as shown in fig. 3, a mechanical palm 5 is provided as an installation support structure for the mechanical fingers, and the mechanical finger base joints of the mechanical fingers are placed in the mechanical palm 5, so that the assembly of the mechanical fingers is completed through the installation of a plurality of mechanical fingers.
Optionally, the mechanical palm 5 is of a hollow structure, an inserting port 51 is arranged on the mechanical palm 5, a supporting step 13 is arranged on the side wall of the box body 1 of the mechanical finger base joint of the mechanical finger, the rotating driving piece 3 of the mechanical finger base joint penetrates through the inserting port 51 and is arranged in the mechanical palm 5, the box body 1 penetrates into the inserting port 51, and the end face, facing the mechanical palm 5, of the supporting step 13 is used for propping against the edge of the inserting port 51.
In order to facilitate the assembly and installation of the mechanical fingers, as shown in fig. 3, in this embodiment, the mechanical palm 5 is configured as a hollow structure, wherein, according to the positions of different mechanical fingers on the mechanical palm 5, an insertion port 51 for insertion is provided, and a supporting step 13 is provided on the side wall of the box 1 of the mechanical finger base joint, when the mechanical fingers are installed, the rotary driving part 3 is placed in the interior of the mechanical palm 5 through the insertion port 51, and the box 1 penetrates into the insertion port 51, so that the end face of the supporting step 13 facing the mechanical palm 5 can be abutted against the edge of the insertion port 51, and through the modularized design, the quick installation of the mechanical fingers is realized, and the accurate installation position of the mechanical fingers is ensured.
As shown in fig. 3, the plug-in port 51 of the palm 5 is different in height depending on the type of the mechanical finger to be mounted. Illustratively, the height of the socket 51 at the middle finger position of the manipulator is greater than the height of the socket 51 at the little finger position.
As shown in fig. 3, a support table is disposed on the side wall of the interior of the mechanical palm 5, and when the mechanical palm 5 is positioned in the rotation driving member 3, the support table abuts against the rotation driving member 3, thereby cooperating with the support step 13, and ensuring the installation stability of the mechanical finger.
The bottom of the rotary driving member 3 is provided with a threaded hole, and the threaded hole is used for penetrating a screw connected with the inside of the mechanical palm 5 to realize the fixed installation of the rotary driving member 3.
As shown in fig. 3 and 2, the mechanical finger in this embodiment is an little finger, for example.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (4)
1. A mechanical finger-based joint, comprising:
the mechanical finger box comprises a box body (1), wherein a transmission mechanism (2) is arranged on the box body (1), and the output end of the transmission mechanism (2) is connected with a near knuckle (4) of the mechanical finger;
the box body (1) is provided with a mounting port (11) at one end corresponding to the input end of the transmission mechanism (2), and the output end of the rotary driving piece (3) is arranged in the box body (1) through the mounting port (11) and is in driving connection with the input end of the transmission mechanism (2);
the transmission mechanism (2) comprises a worm gear assembly (21), a gear assembly (22) and a coupler (23), the output end of the rotary driving piece (3) is in driving connection with the worm gear assembly (21) through the gear assembly (22), the worm gear assembly (21) is rotatably mounted on the box body (1), the output end of the worm gear assembly (21) is fixedly connected with the near knuckle (4), the gear assembly (22) further comprises a first bevel gear (221) and a second bevel gear (222), the worm gear assembly (21) comprises a worm wheel (211) and a worm (212), the output end of the rotary driving piece (3) is in driving connection with the first bevel gear (221) through the coupler (23), the coupler (23) is rotatably mounted in the box body (1) through at least two bearings (12), the first bevel gear (221) and the second bevel gear (222) are meshed with the worm gear (212) in the box body (211) in a driving manner, the worm gear (212) is rotatably mounted in the box body (1), and is fixedly connected with the proximal knuckle (4);
the rotary driving piece (3) is used for driving through the drive mechanism (2) the mechanical finger rotates, the lateral wall of installing port (11) is flexible structure, flexible structure is used for following radial deformation of installing port (11), be equipped with recess (111) on the lateral wall of installing port (11), recess (111) are around the circumference extension setting of the lateral wall of installing port (11), a plurality of recess (111) are followed the loading and unloading direction interval setting of rotary driving piece (3) just crisscross distribution forms flexible structure, be equipped with locking staple bolt (112) on the lateral wall of installing port (11), the both ends of locking staple bolt (112) are connected through threaded connection (113), threaded connection (113) are used for adjusting the internal diameter of locking staple bolt (112), in order to with the lateral wall of installing port (11) extrudees or separates each other.
2. A mechanical finger, characterized by comprising a proximal knuckle (4) and a mechanical finger-based joint according to claim 1.
3. A manipulator comprising a manipulator palm (5) and a manipulator finger according to claim 2, said manipulator finger being mounted on said manipulator palm (5).
4. A manipulator according to claim 3, characterized in that the manipulator (5) is of a hollow structure, an inserting port (51) is arranged on the manipulator (5), a supporting step (13) is arranged on the side wall of the box body (1) of the manipulator finger base joint, a rotary driving piece (3) of the manipulator finger base joint penetrates through the inserting port (51) and is arranged in the manipulator (5), the box body (1) penetrates into the inserting port (51), and the supporting step (13) faces the end face of the manipulator (5) and is used for propping against the edge of the inserting port (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310939815.5A CN116652993B (en) | 2023-07-28 | 2023-07-28 | Mechanical finger base joint, mechanical finger and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310939815.5A CN116652993B (en) | 2023-07-28 | 2023-07-28 | Mechanical finger base joint, mechanical finger and mechanical arm |
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