CN205835384U - A kind of robot finger's resilient mounting - Google Patents
A kind of robot finger's resilient mounting Download PDFInfo
- Publication number
- CN205835384U CN205835384U CN201620766582.9U CN201620766582U CN205835384U CN 205835384 U CN205835384 U CN 205835384U CN 201620766582 U CN201620766582 U CN 201620766582U CN 205835384 U CN205835384 U CN 205835384U
- Authority
- CN
- China
- Prior art keywords
- rope
- digitorum manus
- articulations digitorum
- mounting groove
- resilience
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
This utility model belongs to robot field, relates to a kind of robot finger's resilient mounting.Including the first articulations digitorum manus, the second articulations digitorum manus, the 3rd articulations digitorum manus, back-moving spring, resilience rope, tension rope and motor output panel.Mounting groove one and the mounting groove one of described resilience rope of described tension rope is had owing to this utility model adds described first articulations digitorum manus, described second articulations digitorum manus has mounting groove two and the mounting groove two of described resilience rope of described tension rope, described 3rd articulations digitorum manus has mounting groove three and the mounting groove three of described resilience rope of described tension rope so that described resilience rope and tension rope are in described first articulations digitorum manus, the second articulations digitorum manus and the 3rd articulations digitorum manus and by Complete Bind.Described back-moving spring so that the direction of pull of described back-moving spring and the direction of motion conllinear of resilience rope.This principle makes resilience rope after being released, and does not exist loosening.Idle running is there is not in motor when controlling robot clinodactyly and stretching action.The control ability of finger structure is improved by motor.
Description
Technical field
This utility model belongs to robot field, relates to a kind of robot finger's resilient mounting.
Background technology
Along with day by day improving of people's living standard and being continuously increased of demand, various intelligent equipments engender.Machine
The summit product of device people's what is called intelligent equipment, helps butcher,baker,and the candlestick maker group, solves many problems.Robot hand,
So-called robot captures the vitals of article, its structure problem that a lot of structural engineers need to capture especially.Such as Fig. 1 institute
Showing, existing robot hand structure includes, existing first articulations digitorum manus 1, existing second articulations digitorum manus 2, existing 3rd articulations digitorum manus 3, existing
There are back-moving spring 1, existing back-moving spring 25, existing resilience rope 6, existing tension rope 7 and existing motor output panel 8.Its principle
Being when existing motor output panel 8 rotates counterclockwise, existing tension rope 7 reclaims, and the most existing resilience rope 6 discharges.Described existing
First articulations digitorum manus 1, existing second articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 bend.When existing motor output panel 8 rotates clockwise
Time, existing tension rope 7 discharges, and the most existing resilience rope 6 reclaims.Described existing first articulations digitorum manus 1, existing second articulations digitorum manus 2 and
Existing 3rd articulations digitorum manus 3 stretches.To reach the purpose allowing robot clinodactyly stretch.
Analyze the above-mentioned prior art mentioned to have the following disadvantages, i.e. technical problem to be solved in the utility model:
As it is shown in figure 1, due to existing resilience rope 6 and existing tension rope 7 described existing first articulations digitorum manus 1, existing second
In articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 and by Complete Bind, and the direction of pull of existing back-moving spring 1 with existing time
The direction of motion of bullet rope 6 not conllinear.Above-mentioned both make existing resilience rope 6 after being released, and exist loosening.Cause motor in control
Idle running is there is in robot clinodactyly processed with when stretching action.Motor is weak to the control ability of finger structure.
Utility model content
The purpose of this utility model is to overcome defect present in prior art, design a kind of robot finger's resilience dress
Put.This device is mainly used in robot industry.Solving efficiently in Conventional robotic's finger structure, motor is to finger structure
The weak problem of control ability.
To achieve these goals, the technical solution of the utility model is a kind of robot finger's resilient mounting of design, bag
Include the first articulations digitorum manus, the second articulations digitorum manus, the 3rd articulations digitorum manus, back-moving spring, resilience rope, tension rope and motor output panel.
Described first articulations digitorum manus has mounting groove one and the mounting groove one of described resilience rope of described tension rope；Described second
Articulations digitorum manus has mounting groove two and the mounting groove two of described resilience rope of described tension rope；Described 3rd articulations digitorum manus draws described in having
The mounting groove three of tight rope and the mounting groove three of described resilience rope.
Its annexation is: described first articulations digitorum manus and the second articulations digitorum manus are hinged；Described second articulations digitorum manus and the 3rd refers to
Joint is hinged；One end of described tension rope is fixed on described motor output panel；The other end of described tension rope is fixed on described
On first articulations digitorum manus；Described tension rope has the mounting groove one of described tension rope, described second finger through described first articulations digitorum manus
Joint has the mounting groove two of described tension rope and described 3rd articulations digitorum manus has in the mounting groove three of described tension rope；Described time
One end of bullet rope is fixed on described back-moving spring；The other end of described resilience rope is fixed on described first articulations digitorum manus；Described
Resilience rope is through described first articulations digitorum manus has the mounting groove one of described resilience rope, described second articulations digitorum manus has described resilience rope
Mounting groove two, described 3rd articulations digitorum manus has in the mounting groove three of described resilience rope.
Advantage of the present utility model and having the beneficial effects that: have owing to this utility model adds described first articulations digitorum manus
The mounting groove one of described tension rope and the mounting groove one of described resilience rope, described second articulations digitorum manus has the installation of described tension rope
Groove two and the mounting groove two of described resilience rope, described 3rd articulations digitorum manus has the mounting groove three of described tension rope and described resilience rope
Mounting groove three so that described resilience rope and tension rope in described first articulations digitorum manus, the second articulations digitorum manus and the 3rd articulations digitorum manus also
By Complete Bind.Described back-moving spring so that the direction of pull of described back-moving spring and the direction of motion conllinear of resilience rope.This is former
Reason makes resilience rope after being released, and does not exist loosening.Motor does not exists when controlling robot clinodactyly and stretching action
Idle running.The control ability of finger structure is improved by motor.
Accompanying drawing explanation
Fig. 1 is existing robot finger's structural principle schematic diagram；
Fig. 2 is this utility model robot finger's structural principle schematic diagram；
Fig. 3 is this utility model robot finger joint structural principle schematic diagram；
Wherein, existing first articulations digitorum manus of 1-；Existing second articulations digitorum manus of 2-；Existing 3rd articulations digitorum manus of 3-；4-existing reset bullet
Spring one；The existing back-moving spring of 5-two；6-existing resilience rope；The existing tension rope of 7-；8-existing motor output panel；21-first refers to close
Joint；22-the second articulations digitorum manus；23-the 3rd articulations digitorum manus；24-back-moving spring；25-resilience rope；26-tension rope；27-motor output panel；
The mounting groove one of 31-tension rope；The mounting groove one of 32-resilience rope；The mounting groove two of 33-tension rope；The mounting groove of 34-resilience rope
Two；The mounting groove three of 35-tension rope；The mounting groove three of 36-resilience rope.
Detailed description of the invention
With embodiment, detailed description of the invention of the present utility model is further described below in conjunction with the accompanying drawings, following example
It is only used for clearly illustrating the technical solution of the utility model, and protection model of the present utility model can not be limited with this
Enclose.
As shown in Figures 2 and 3, the technical solution of the utility model is a kind of robot finger's resilient mounting of design, including
First articulations digitorum manus the 21, second articulations digitorum manus the 22, the 3rd articulations digitorum manus 23, back-moving spring 24, resilience rope 25, tension rope 26 and motor output
Dish 27.
Described first articulations digitorum manus 21 has mounting groove 1 and the mounting groove 1 of described resilience rope of described tension rope；Institute
State the second articulations digitorum manus 22 and have mounting groove 2 33 and the mounting groove 2 34 of described resilience rope of described tension rope；Described 3rd refers to close
Joint 23 has mounting groove 3 35 and the mounting groove 3 36 of described resilience rope of described tension rope.
Its annexation is: described first articulations digitorum manus 21 and described second articulations digitorum manus 22 are hinged；Described second articulations digitorum manus
22 and described 3rd articulations digitorum manus 23 hinged；One end of described tension rope 26 is fixed on described motor output panel 27；Described tension
The other end of rope 26 is fixed on described first articulations digitorum manus 21；Described tension rope is worn 26 described first articulations digitorum manus 21 excessively and is had described
The mounting groove 1 of tension rope, described second articulations digitorum manus 22 have the mounting groove 2 33 of described tension rope and described 3rd articulations digitorum manus
23 have in the mounting groove 3 35 of described tension rope；One end of described resilience rope 25 is fixed on described back-moving spring 24；Described
The other end of resilience rope 25 is fixed on described first articulations digitorum manus 21；Described resilience rope 25 has through described first articulations digitorum manus 21
The mounting groove 1 of described resilience rope, described second articulations digitorum manus 22 have the mounting groove 2 34 of described resilience rope, described 3rd finger
Joint 23 has in the mounting groove 3 36 of described resilience rope.
Described first articulations digitorum manus 21 has mounting groove 1 and the mounting groove 1 of described resilience rope of described tension rope, makes
Obtain described resilience rope 25 and tension rope 26 in described first articulations digitorum manus 21 and by Complete Bind.Described second articulations digitorum manus 22 has
The mounting groove 2 33 of described tension rope and the mounting groove 2 34 of described resilience rope so that described resilience rope 25 and tension rope 26 are
In two articulations digitorum manus 22 and by Complete Bind.Described 3rd articulations digitorum manus 23 has the mounting groove 3 35 of described tension rope and described resilience
The mounting groove 3 36 of rope so that described resilience rope 25 and tension rope 26 are in the 3rd articulations digitorum manus 23 and by Complete Bind.Described multiple
Position spring 24 so that the direction of pull of described back-moving spring 24 and the direction of motion conllinear of described resilience rope 25.This principle makes
Described resilience rope 25, after being released, does not exist loosening.Motor does not exists when controlling robot clinodactyly and stretching action
Idle running.The control ability of finger structure is improved by motor.
The above is only preferred embodiments of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of without departing from this utility model know-why, it is also possible to make some improvements and modifications, these change
Enter and retouch and also should be regarded as protection domain of the present utility model.
Claims (2)
1. robot finger's resilient mounting, it is characterised in that: include the first articulations digitorum manus (21), the second articulations digitorum manus (22),
Three articulations digitorum manus (23), back-moving spring (24), resilience rope (25), tension rope (26) and motor output panel (27)；
Described first articulations digitorum manus (21) has the mounting groove one (31) of described tension rope and the mounting groove one (32) of described resilience rope；
Described second articulations digitorum manus (22) has the mounting groove two (33) of described tension rope and the mounting groove two (34) of described resilience rope；Described
3rd articulations digitorum manus (23) has the mounting groove three (35) of described tension rope and the mounting groove three (36) of described resilience rope；
Its annexation is: described first articulations digitorum manus (21) and described second articulations digitorum manus (22) are hinged；Described second articulations digitorum manus
And described 3rd articulations digitorum manus (23) is hinged (22)；One end of described tension rope (26) is fixed on described motor output panel (27)；
The other end of described tension rope (26) is fixed on described first articulations digitorum manus (21)；Described tension rope (26) refers to through described first
Joint (21) has the mounting groove one (31) of described tension rope, described second articulations digitorum manus (22) has the mounting groove of described tension rope
Two (33) and described 3rd articulations digitorum manus (23) have in the mounting groove three (35) of described tension rope；One end of described resilience rope (25)
It is fixed on described back-moving spring (24)；The other end of described resilience rope (25) is fixed on described first articulations digitorum manus (21)；Institute
State resilience rope (25) and have the mounting groove one (32) of described resilience rope, described second articulations digitorum manus through described first articulations digitorum manus (21)
(22) have the mounting groove two (34) of described resilience rope, described 3rd articulations digitorum manus (23) has the mounting groove three of described resilience rope
(36) in.
A kind of robot finger's resilient mounting the most according to claim 1, it is characterised in that: described first articulations digitorum manus (21)
The mounting groove one (31) and the mounting groove one (32) of described resilience rope, described second articulations digitorum manus (22) that have described tension rope have
The mounting groove two (33) of described tension rope and the mounting groove two (34) of described resilience rope, described 3rd articulations digitorum manus (23) have described
The mounting groove three (35) of tension rope and the mounting groove three (36) of described resilience rope and described back-moving spring (24)；Make described resilience
Restrict (25) and tension rope (26) is in the 3rd articulations digitorum manus (23) and by Complete Bind, described back-moving spring (24) so that described multiple
The direction of pull of position spring (24) and the direction of motion conllinear of described resilience rope (25)；This principle makes described resilience rope (25) exist
After being released, do not exist loosening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620766582.9U CN205835384U (en) | 2016-07-21 | 2016-07-21 | A kind of robot finger's resilient mounting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620766582.9U CN205835384U (en) | 2016-07-21 | 2016-07-21 | A kind of robot finger's resilient mounting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205835384U true CN205835384U (en) | 2016-12-28 |
Family
ID=57624572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620766582.9U Expired - Fee Related CN205835384U (en) | 2016-07-21 | 2016-07-21 | A kind of robot finger's resilient mounting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205835384U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945978A (en) * | 2016-07-21 | 2016-09-21 | 北京灵铱科技有限公司 | Robot finger rebounding device |
| CN107214721A (en) * | 2017-07-27 | 2017-09-29 | 深圳市大寰机器人科技有限公司 | A kind of parallel robot delicate adaptively grasped |
| KR20190098100A (en) * | 2019-08-01 | 2019-08-21 | 엘지전자 주식회사 | Hand of robot and control method of the same |
-
2016
- 2016-07-21 CN CN201620766582.9U patent/CN205835384U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945978A (en) * | 2016-07-21 | 2016-09-21 | 北京灵铱科技有限公司 | Robot finger rebounding device |
| CN107214721A (en) * | 2017-07-27 | 2017-09-29 | 深圳市大寰机器人科技有限公司 | A kind of parallel robot delicate adaptively grasped |
| CN107214721B (en) * | 2017-07-27 | 2019-08-23 | 深圳市大寰机器人科技有限公司 | A kind of robot delicate adaptively grasped in parallel |
| KR20190098100A (en) * | 2019-08-01 | 2019-08-21 | 엘지전자 주식회사 | Hand of robot and control method of the same |
| KR102220191B1 (en) | 2019-08-01 | 2021-02-25 | 엘지전자 주식회사 | Hand of robot and control method of the same |
| US11279024B2 (en) | 2019-08-01 | 2022-03-22 | Lg Electronics Inc. | Hand of robot and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205835384U (en) | A kind of robot finger's resilient mounting | |
| WO2013144763A3 (en) | Clothes treatment appliance with condenser and cleaner device | |
| CN203973550U (en) | A kind of non-contact gesture control | |
| CN105945978A (en) | Robot finger rebounding device | |
| CN106078777A (en) | A kind of articulated robot finger actuating device | |
| JP2013544415A5 (en) | ||
| CN205928688U (en) | Articulated robot points transmission | |
| CN206201001U (en) | A kind of robot finger apparatus of electromagnetic driven | |
| CN205928653U (en) | Robot joint's knot constructs | |
| CN206048231U (en) | A kind of robot finger apparatus of positive drive | |
| CN106272530A (en) | A kind of friction-type robot ball ancillary equipment | |
| CN203969244U (en) | A kind of POLO shirt | |
| CN204183567U (en) | A kind of for single, three-phase electric energy meter automatic boxing paw | |
| CN202504254U (en) | Cleaning gloves | |
| CN106239542A (en) | A kind of robot finger apparatus of positive drive | |
| CN106181993A (en) | A kind of rope structure of joint of robot | |
| CN104013118A (en) | POLO shirt | |
| CN202932523U (en) | Novel down quilt | |
| CN204079055U (en) | Folding apparatus and control system thereof | |
| CN204681660U (en) | A kind of cloth inspecting machine destatic conveying pipeline | |
| CN202645402U (en) | Magnetic soft screen door | |
| CN202932112U (en) | Red scarf | |
| CN202819676U (en) | Clothes for dirty prevention on sleeves | |
| CN204138018U (en) | A kind of Thread-feeding device is with going out creel | |
| JP3205643U (en) | Easy-to-hang umbrella structure for reverse closure |
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: 20161228 Termination date: 20180721 |