CN205009250U - Indicate dexterous hand more based on link mechanism - Google Patents
Indicate dexterous hand more based on link mechanism Download PDFInfo
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- CN205009250U CN205009250U CN201520702270.7U CN201520702270U CN205009250U CN 205009250 U CN205009250 U CN 205009250U CN 201520702270 U CN201520702270 U CN 201520702270U CN 205009250 U CN205009250 U CN 205009250U
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- China
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- finger
- linkage
- dactylus
- pivoting
- supporting seat
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Abstract
The utility model discloses an indicate dexterous hand more based on link mechanism, it has solved traditional end effector can only realize the specific problem that snatchs the task. The characterized in that of this dexterity hand is including the supporting seat that is used for fixed mounting respectively to point the subassembly and link to each other with rotatory finger slewing mechanism, set up a fixed finger subassembly and two rotatory finger subassemblies above the supporting seat, two rotatory subassemblies of pointing are located the concentric circles with fixed finger subassembly, and point 120 degrees contained angles of inter -module one -tenth. The supporting seat lower part sets up rotatory finger slewing mechanism, rotation finger slewing mechanism one end and two rotatory finger subassemblies link to each other, and one end links to each other with the rotation motor. The supporting seat outside sets up the support end cover for sealed rotatory finger slewing mechanism. This dexterous hand can replace down that artifical realization is nimble, accurate, quick at the limit or harmful environment, high repeated volume pick the operation, have wide application prospect and important social effect in the industrial robot field.
Description
Technical field
The utility model relates to industrial robot field, is specifically related to a kind of multi-finger clever hand based on linkage.Be mainly used in replacing under the limit or harmful environment artificial realizing flexibly, accurately and fast, the grasping manipulation of the high amount of repetition.
Background technology
In industrial application, end effector many employings clamp-type manipulator of robot, the opening and closing referred to by two, realize blessing and the carrying of material.The finger of this manipulator needs to design according to the shape of clamped object, generally can only realize specifically capturing task, can not adapt to the change of object profile.When performing different job tasks, need to redesign paw, versatility is poor, and can increase production cost.In addition, this clamp-type manipulator maintains main finger and the frictional force captured between object of relying on of the clamping of object and location, lack accurate power to control, the exigent task of blessing power cannot be completed, capture lower, the stability of precision and reliability poor.The utility model provides a kind of multi-finger clever hand based on linkage for this reason, this Dextrous Hand is by the grasping attitude of adjustment finger, adapt to by the change of operand profile, there is very high versatility, stability and reliability, efficiently can coordinate with industrial robot, improve industrial automaticity.
Summary of the invention
Technical purpose of the present utility model overcomes the problems of the prior art, provides a kind of multi-finger clever hand based on linkage.This Dextrous Hand can by the grasping attitude of adjustment finger, the object that stable crawl is different.Replace manually realizing flexibly under the limit or harmful environment, accurately and fast, the grasping manipulation of the high amount of repetition, improve industrial automaticity.
The utility model in order to the technical scheme solving its technical problem and adopt is: a kind of multi-finger clever hand based on linkage, is characterized in that, comprises for fixedly mounting each finger assembly and the supporting seat be connected with pivoting finger rotating mechanism; Arrange a fixed finger assembly and two pivoting finger assemblies above described supporting seat, described two pivoting finger assemblies and fixed finger assembly are positioned on concentric circles, and finger inter-module becomes 120 degree of angles.Described supporting seat bottom arranges pivoting finger rotating mechanism, and described pivoting finger rotating mechanism one end is connected with two pivoting finger assemblies, and one end is connected with rotary electric machine.Described supporting seat outer setting supports end cap, described supports end cap is used for seal rotary finger rotating mechanism.
The aforesaid multi-finger clever hand based on linkage, described supporting seat is designed to circular triangle structure, and three summits fixedly mount two pivoting finger assemblies and fixed finger assembly, fixedly mount pivoting finger rotating mechanism below.Namely material and space, again good looking appearance is saved.
The aforesaid multi-finger clever hand based on linkage, described fixed finger assembly is primarily of finger bracket, nearly dactylus, nearly dactylus transmission mechanism, nearly dactylus rotating shaft, near-end joint drive motors, dactylus far away, linkage, dactylus axle far away, linkage drive motors composition.Near-end joint drive motors is fixed on finger bracket, drives nearly dactylus rotating shaft to rotate by nearly dactylus transmission mechanism, drives nearly dactylus to bend.Linkage drive motors is fixed on nearly dactylus, by bevel gear driving linkage, drives dactylus far away to bend.The materials such as surface adhesion one deck rubber of finger or flexible plastic, to reduce to point and impact during object contact, increase contact friction force simultaneously.
The aforesaid multi-finger clever hand based on linkage, described pivoting finger assembly is primarily of finger bracket, nearly dactylus, nearly dactylus transmission mechanism, nearly dactylus rotating shaft, near-end joint drive motors, dactylus far away, linkage, dactylus axle far away, linkage drive motors composition.Pivoting finger assembly one end is connected with pivoting finger rotating mechanism, can realize the rotation around own axes.Meanwhile, in order to easy to process, reduce costs, the knuckle portion far away of pivoting finger assembly and nearly knuckle portion and fixed finger assembly adopt identical structure.
The aforesaid multi-finger clever hand based on linkage, described linkage is made up of linkage driving shaft, driving shaft fixed disk, driving shaft rolling disc, linkage driven shaft, driven shaft fixed disk, driven shaft rolling disc, slide block, connecting rod, does bending motion for driving dactylus far away.
The aforesaid multi-finger clever hand based on linkage, described pivoting finger rotating mechanism is made up of rotary electric machine, driving gear, driven gear, does gyration for driving two pivoting finger assemblies around axis.Two pivoting finger assemblies rotate and are driven by same motor.Left side pivoting finger drives two driven gears to realize rotating by driving gear, and right side rotates hand and drives three driven gears to realize rotating by driving gear, and two pivoting finger assembly rotation directions are contrary.
In sum, this Dextrous Hand has three finger assemblies, 7 degree of freedom.Fixed finger assembly can realize nearly dactylus and the relatively independent bending motion of dactylus far away, and two pivoting finger assemblies can realize the relatively independent bending motion of each dactylus and the gyration around own axes.Knuckle portion and the pivoting finger assembly of fixed finger assembly adopt identical structure, and the gyration of two pivoting finger assemblies is driven by a set of motor.This Dextrous Hand can replace artificial realizing flexibly under the limit or harmful environment, accurately and fast, the grasping manipulation of the high amount of repetition, have broad application prospects in industrial robot field and important social effect.
Accompanying drawing explanation
Fig. 1 is that the structure of Dextrous Hand of the present utility model is always schemed;
Fig. 2 is the concrete structure figure of the utility model finger assembly;
Fig. 3 is the utility model link transmission schematic diagram;
Fig. 4 is the utility model pivoting finger rotating mechanism schematic diagram;
Wherein: the numbering in Fig. 1 is respectively: 1, fixed finger assembly 2, pivoting finger assembly A3, bearing gland 4, supporting seat 5, pivoting finger rotating mechanism 6, supports end cap 7, rotary electric machine 8, pivoting finger assembly B.
Numbering in Fig. 2 is respectively: 9, dactylus 10 far away, screw 11, dactylus axle 12 far away, nearly dactylus 13, sleeve A14, sleeve B15, bevel gear A16, bearing (ball) cover 17, bearing block 18, near-end joint drive motors 19, finger bracket 20, nearly dactylus transmission mechanism 21, nearly dactylus rotating shaft 22, linkage driving shaft 23, bevel gear B24, linkage drive motors 25, linkage 26, end cap.
Numbering in Fig. 3 is respectively: 27, driven shaft rolling disc 28, slide block 29, connecting rod 30, driving shaft rolling disc 31, linkage driving shaft 32, driving shaft fixed disk 33, linkage driven shaft 34, driven shaft fixed disk.
Numbering in Fig. 4 is respectively: 35, driven gear A36, driven gear B37, driven gear C38, driving gear 39, driven gear D40, driven gear E.
Detailed description of the invention
In order to make the technical solution of the utility model, technical characteristic, reach object and function is easy to understand, below in conjunction with detailed description of the invention, set forth further.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of multi-finger clever hand based on linkage, is characterized in that, comprises for installing fixed finger assembly 1, pivoting finger assembly A2, pivoting finger assembly B8 the supporting seat 4 be connected with pivoting finger rotating mechanism 5; Described supporting seat 4 arranges a fixed finger assembly 1, pivoting finger assembly A2 and pivoting finger assembly B8 above, described pivoting finger assembly A2 and pivoting finger assembly B8 and fixed finger assembly 1 are positioned on concentric circles, and fixed finger assembly 1, are into 120 degree of angles between pivoting finger assembly A2 with pivoting finger assembly B8.Described supporting seat bottom arranges pivoting finger rotating mechanism 5, and described pivoting finger rotating mechanism 5 one end is connected with pivoting finger assembly A2, pivoting finger assembly B8, and one end is connected with rotary electric machine 7.Described supporting seat 4 outer setting supports end cap 6, described supports end cap 6 is for seal rotary finger rotating mechanism 5.
According to Fig. 1-Fig. 4, the course of work of the present utility model is described below.
The BENDING PROCESS of finger assembly:
Linkage drive motors 24 does not start, and near-end joint drive motors 18 starts.Near-end joint drive motors 18 drives the nearly dactylus transmission mechanism 20 be made up of bevel gear to rotate, and nearly dactylus 12 is followed nearly dactylus rotating shaft 20 and rotated, and drives dactylus 9 far away to rotate simultaneously, realizes the bending of the relatively near dactylus rotating shaft 20 of whole finger assembly.
Near-end joint drive motors 18 does not start, and linkage drive motors 24 starts.Nearly dactylus 12 maintains static, linkage drive motors 24 is with dynamic bevel gear B23 to rotate, bevel gear B23 is rotated by bevel gear A15 drivening rod mechanism driving shaft 31, driving shaft rolling disc 30 is followed linkage driving shaft 31 and is rotated, driving shaft rolling disc 30 drivening rod 29 swings, connecting rod 29 drives driven shaft rolling disc 27 to rotate by slide block 28, and dactylus 9 far away is followed driven shaft rolling disc 27 and rotated, and dactylus 9 far away dactylus rotating shaft 11 relatively far away bends.
Near-end joint drive motors 18 and linkage drive motors 24 start simultaneously, and near-end joint drive motors 18 drives nearly dactylus transmission mechanism 20 to rotate, and nearly dactylus 12 is followed nearly dactylus rotating shaft 20 and rotated, and the relatively near dactylus rotating shaft 20 of nearly dactylus 12 bends.Linkage drive motors 24 drivening rod mechanism driving shaft 31 rotates, driving shaft rolling disc 30 is followed linkage driving shaft 31 and is rotated, driving shaft rolling disc 30 drivening rod 29 swings, connecting rod 29 drives driven shaft rolling disc 27 to rotate by slide block 28, dactylus 9 far away is followed driven shaft rolling disc 27 and is rotated, and dactylus 9 far away dactylus rotating shaft 11 relatively far away bends.
The rotation process of pivoting finger assembly:
Rotary electric machine 7 starts, driving gear 38 is driven to rotate, driving gear 38 drives driven gear D39 to rotate, driven gear E40 follows driven gear D39 and rotates, and pivoting finger assembly B8 is rotated about axis, and driving gear 38 drives driven gear C37 to rotate simultaneously, driven gear B36 follows driven gear C37 and rotates, driven gear B36 drives driven gear A35 to rotate, and pivoting finger assembly A2 is rotated about axis, and rotation direction is contrary with pivoting finger assembly B8.
More than show and describe general principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-mentioned example and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (5)
1. based on a multi-finger clever hand for linkage, it is characterized in that, comprising for fixedly mounting each finger assembly and the supporting seat be connected with pivoting finger rotating mechanism; A fixed finger assembly and two pivoting finger assemblies are set above described supporting seat, described two pivoting finger assemblies and fixed finger assembly are positioned on concentric circles, and finger inter-module becomes 120 degree of angles, described supporting seat bottom arranges pivoting finger rotating mechanism, described pivoting finger rotating mechanism one end is connected with two pivoting finger assemblies, one end is connected with rotary electric machine, described supporting seat outer setting supports end cap, and described supports end cap is used for seal rotary finger rotating mechanism.
2. the multi-finger clever hand based on linkage according to claim 1, described supporting seat is designed to circular triangle structure, and three summits fixedly mount two pivoting finger assemblies and fixed finger assembly, fixedly mount pivoting finger rotating mechanism below.
3. the multi-finger clever hand based on linkage according to claim 1, described fixed finger assembly is primarily of finger bracket, nearly dactylus, nearly dactylus transmission mechanism, nearly dactylus rotating shaft, near-end joint drive motors, dactylus far away, linkage, dactylus axle far away, linkage drive motors composition, near-end joint drive motors is fixed on finger bracket, nearly dactylus rotating shaft is driven to rotate by nearly dactylus transmission mechanism, nearly dactylus is driven to bend, linkage drive motors is fixed on nearly dactylus, by bevel gear driving linkage, dactylus far away is driven to bend.
4. the multi-finger clever hand based on linkage according to claim 1, described pivoting finger assembly is primarily of finger bracket, nearly dactylus, nearly dactylus transmission mechanism, nearly dactylus rotating shaft, near-end joint drive motors, dactylus far away, linkage, dactylus axle far away, linkage drive motors composition, pivoting finger assembly one end is connected with pivoting finger rotating mechanism, can realize the rotation around own axes.
5. the multi-finger clever hand based on linkage according to claim 1, described linkage is made up of linkage driving shaft, driving shaft fixed disk, driving shaft rolling disc, linkage driven shaft, driven shaft fixed disk, driven shaft rolling disc, slide block, connecting rod, does bending motion for driving dactylus far away.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520702270.7U CN205009250U (en) | 2015-09-11 | 2015-09-11 | Indicate dexterous hand more based on link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520702270.7U CN205009250U (en) | 2015-09-11 | 2015-09-11 | Indicate dexterous hand more based on link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205009250U true CN205009250U (en) | 2016-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520702270.7U Expired - Fee Related CN205009250U (en) | 2015-09-11 | 2015-09-11 | Indicate dexterous hand more based on link mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205009250U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272493A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工大服务机器人有限公司 | A kind of mechanical hand rotational structure |
| CN106826901A (en) * | 2017-03-15 | 2017-06-13 | 福州大学 | A kind of three refer to electronic grasping device |
| CN107712010A (en) * | 2017-08-28 | 2018-02-23 | 华中农业大学 | The net thorax arm end effector of butchering fowl |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
-
2015
- 2015-09-11 CN CN201520702270.7U patent/CN205009250U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272493A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工大服务机器人有限公司 | A kind of mechanical hand rotational structure |
| CN106826901A (en) * | 2017-03-15 | 2017-06-13 | 福州大学 | A kind of three refer to electronic grasping device |
| CN107712010A (en) * | 2017-08-28 | 2018-02-23 | 华中农业大学 | The net thorax arm end effector of butchering fowl |
| CN110405799A (en) * | 2019-07-30 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of multi-finger clever manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160203 Termination date: 20160911 |