CN205928708U - Flexible finger of robot - Google Patents
Flexible finger of robot Download PDFInfo
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- CN205928708U CN205928708U CN201620798239.2U CN201620798239U CN205928708U CN 205928708 U CN205928708 U CN 205928708U CN 201620798239 U CN201620798239 U CN 201620798239U CN 205928708 U CN205928708 U CN 205928708U
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Abstract
The utility model discloses a flexible finger of robot, include: finger assembly passes finger assembly and drives the flexible coupling assembling that finger assembly moved, drives the transmission of flexible coupling assembling motion. The utility model provides a flexible finger of robot of the human finger motion of stable performance and simulation, thus noise reduction who produces when not only the action softly makes each joint motions but also action form trend towards true man to be pointed the action and improves its sight.
Description
Technical field
It is related to automated machine field, particularly a kind of flexible finger of robot.
Background technology
The mechanism of robot finger's Flexible Transmission is combined with popular life, is played finger-guessing game by spectators and robot
Or do the entertainment interactive form such as gesture, being active in one's movements and lightweight flexible of show robot finger.Currently, most robot
During finger action, the form of expression is all more stiff, stiff, and therefore adding in its design to make the soft part of its action and structure,
As torsion spring, rack-and-pinion linkage structure.There is more preferable amusement, interaction effect.
Utility model content
For solving the deficiencies in the prior art, the purpose of this utility model is to provide a kind of stable performance and simulate mankind's handss
Refer to the flexible finger of the robot of motion, not only action softly makes the noise producing during each joint motions reduce but also action form
Trend towards true man's finger movement thus improving its sight.
In order to realize above-mentioned target, this utility model adopts the following technical scheme that：
The flexible finger of robot, including：Finger assembly, through finger assembly and drive finger component movement flexible even
Connected components, drive the actuating device of flexible connection component movement.
The flexible finger of aforesaid robot, finger assembly composition has：Finger fixed plate, is fixed in finger fixed plate
Finger finger, finger finger joint, it is connected to finger fixed plate and finger finger, the bullet being connected between finger finger and finger finger joint
Power part.
The flexible finger of aforesaid robot, spring element is torsion spring, and it is solid with finger that torsion spring is installed on finger finger by pin
Between fixed board, finger finger and finger finger joint.
The flexible finger of aforesaid robot, flexible connection assembly composition has：It is fixed on the guide plate of finger fixed plate, pass through
Wear the flexible rope of finger finger, finger finger joint and guide plate.
The flexible finger of aforesaid robot, guide plate is provided with the pilot hole connecting flexible rope.
The flexible finger of aforesaid robot, actuating device includes：Cylinder, is connected to the transmission group of cylinder and flexible rope
Part.
The flexible finger of aforesaid robot, transmission component composition has：It is connected to the guide rail of cylinder and flexible rope, connect
In the gear of guide rail, it is connected in the tooth bar of gear.
The flexible finger of aforesaid robot, guide rail is provided with the fixed block being connected in cylinder and flexible rope.
The flexible finger of aforesaid robot, cylinder is provided with flow speed control valve.
The flexible finger of aforesaid robot, tooth bar and guide rail are fixed in transmission fixed plate, and tooth bar is parallel to guide rail.
Of the present utility model it is beneficial in that：This utility model provides a kind of stable performance and simulates human finger's motion
Robot flexible finger, this utility model passes through to be flexibly connected assembly and connects finger assembly and actuating device, not only action
The noise that produces during each joint motions is softly made to reduce and action form trends towards true man's finger movement views and admires thus improving it
Property.
Brief description
Fig. 1 is a kind of front view of embodiment of the present utility model；
Fig. 2 is a kind of side view of embodiment of the present utility model；
The implication of in figure reference：
20 finger assemblies, 30 flexible connection assemblies, 40 actuating devices, 1 finger finger, 2 finger finger joints, 3 torsion springs,
4 finger fixed plates, 5 flexible ropes, 6 transmission fixed plates, 7 tooth bars, 8 gears, 9 guide rails, 10 fixed blocks, 11 cylinders, 12 tune
Fast valve, 13 guide plates.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, this utility model is made with specific introduction.
The flexible finger of robot, including：Finger assembly, through finger assembly and drive finger component movement flexible even
Connected components, drive the actuating device of flexible connection component movement.
Finger assembly composition has：Finger fixed plate, is fixed on the finger finger in finger fixed plate, finger finger joint, connects
In finger fixed plate and finger finger, the spring element being connected between finger finger and finger finger joint.As a kind of preferred, elastic force
Part is torsion spring, and torsion spring is installed between finger finger and finger fixed plate, finger finger and finger finger joint by pin.
Flexible connection assembly composition has：It is fixed on the guide plate of finger fixed plate, run through finger finger, finger finger joint and lead
Flexible rope to plate.Guide plate is provided with the pilot hole connecting flexible rope.It should be noted that finger finger and flexible strand
Suo Jinhang is fastenedly connected, and flexible rope is through at the centre position of finger finger and finger joint.
Actuating device includes：Cylinder, is connected to the transmission component of cylinder and flexible rope.Transmission component composition has：Connect
In the guide rail of cylinder and flexible rope, it is connected to the gear of guide rail, be connected in the tooth bar of gear.Guide rail is provided with and is connected in cylinder
And the fixed block of flexible rope.In order to adjust the movement velocity of finger, cylinder is provided with flow speed control valve.Tooth bar and guide rail are fixed
In transmission fixed plate, tooth bar is parallel to guide rail.
Whole system runs and is described as follows：
Finger grips -- cylinder contractive action, sliding guides are equipped with the fixed component of flexible strand；Drawn by flexible strand
Start to refer to, complete finger grips action.Flexible strand is constrained by each flexible strand guide plate in the process, and passes through to slow down in cylinder
Its impulsive force is weakened by valve and gear, rackwork, reaches the soft effect of action.
Digital extension -- cylinder extending action, by the strength of torsion spring on finger, complete finger stretchs out action.Here mistake
The impulsive force of torsion spring is weakened by journey middle gear, tooth bar, reaches the soft effect of action.
This utility model provides a kind of stable performance and simulates the flexible finger of the robot of human finger's motion, this practicality
New connect finger assembly and actuating device by being flexibly connected assembly, not only action softly makes produce during each joint motions to make an uproar
Sound reduces and action form trends towards true man's finger movement thus improving its sight.
Of the present utility model ultimate principle, principal character and advantage have been shown and described above.The technical staff of the industry
It should be appreciated that above-described embodiment in any form limit this utility model, all by the way of equivalent or equivalent transformation
The technical scheme being obtained, all falls within protection domain of the present utility model.
Claims (10)
1. the flexible finger of robot is it is characterised in that include：Finger assembly, through above-mentioned finger assembly and drive finger group
The flexible connection assembly of part motion, drives the actuating device of above-mentioned flexible connection component movement.
2. the flexible finger of robot according to claim 1 is it is characterised in that above-mentioned finger assembly composition has：Finger
Fixed plate, is fixed on the finger finger in above-mentioned finger fixed plate, finger finger joint, is connected to above-mentioned finger fixed plate and Fingers
Head, the spring element being connected between above-mentioned finger finger and finger finger joint.
3. robot according to claim 2 flexible finger it is characterised in that above-mentioned spring element be torsion spring, above-mentioned torsion
Spring is installed between above-mentioned finger finger and finger fixed plate, finger finger and finger finger joint by pin.
4. the flexible finger of robot according to claim 2 is it is characterised in that above-mentioned flexible connection assembly composition has：
It is fixed on the guide plate of above-mentioned finger fixed plate, run through the flexible rope of above-mentioned finger finger, finger finger joint and guide plate.
5. robot according to claim 4 flexible finger it is characterised in that above-mentioned guide plate be provided with connection above-mentioned
The pilot hole of flexible rope.
6. the flexible finger of robot according to claim 4 is it is characterised in that above-mentioned actuating device includes：Cylinder, even
It is connected to the transmission component of above-mentioned cylinder and flexible rope.
7. the flexible finger of robot according to claim 6 is it is characterised in that above-mentioned transmission component composition has：Connect
In the guide rail of above-mentioned cylinder and flexible rope, it is connected to the gear of above-mentioned guide rail, be connected in the tooth bar of said gear.
8. the flexible finger of robot according to claim 7 is it is characterised in that above-mentioned guide rail is provided with and is connected in cylinder
And the fixed block of flexible rope.
9. the flexible finger of robot according to claim 6 is it is characterised in that above-mentioned cylinder is provided with flow speed control valve.
10. the flexible finger of robot according to claim 7 is it is characterised in that above-mentioned tooth bar and guide rail are fixed on biography
In dynamic fixed plate, above-mentioned tooth bar is parallel to guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620798239.2U CN205928708U (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620798239.2U CN205928708U (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928708U true CN205928708U (en) | 2017-02-08 |
Family
ID=57927536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620798239.2U Active CN205928708U (en) | 2016-07-27 | 2016-07-27 | Flexible finger of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928708U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003132A (en) * | 2016-07-27 | 2016-10-12 | 昆山塔米机器人有限公司 | Flexible finger of robot |
-
2016
- 2016-07-27 CN CN201620798239.2U patent/CN205928708U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003132A (en) * | 2016-07-27 | 2016-10-12 | 昆山塔米机器人有限公司 | Flexible finger of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Suzhou Tami robot Co.,Ltd. Address before: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN TAMI ROBOT Co.,Ltd. |