CN206154333U - Imitative staff mechanical gripper - Google Patents
Imitative staff mechanical gripper Download PDFInfo
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- CN206154333U CN206154333U CN201621147424.1U CN201621147424U CN206154333U CN 206154333 U CN206154333 U CN 206154333U CN 201621147424 U CN201621147424 U CN 201621147424U CN 206154333 U CN206154333 U CN 206154333U
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- thumb
- joint
- hinged
- jointed shaft
- slide block
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Abstract
The utility model relates to an imitative staff mechanical gripper, indicate and mechanical thumb including machinery no. 4, it is articulated respectively between four fingers of machinery and pollical each joint of machinery, each joint of four fingers of machinery is connected with a link mechanism respectively, pollical each joint of machinery is connected with the 2nd link mechanism respectively, machinery no. 4 indicates and the pollical one end of machinery is articulated sets up on the hand supports, the hand supports upward, and the movable type is provided with the power that passes slider, a link mechanism is connected with biography power slider, actuating mechanism drive biography power slider lies in the hand support and upward moves, parallel connection motivation tool no. 4 indicates to appear the flexure operation, the 2nd link mechanism passes through the transition connecting rod unit and is connected with actuating mechanism, actuating mechanism drive transition connecting rod unit action parallel connection motivation tool thumb presents the flexure operation, this mechanical gripper can imitate the actual action of people's palm, the flexibility ratio is high.
Description
Technical field
The utility model is related to robotics, and in particular to a kind of apery hand mechanical paw.
Background technology
The mechanical paw for imitating staff is the important directions of mechanical investigations in recent years, due to the palm ball and socket structure and flesh of people
Meat tissue is complicated, therefore four fingers and thumb of people can do various bendings, wobbling action in space, and the palm of people is more clever
It is living, different crawls or the needs of other actions are can adapt to, while at aspects such as artificial limb, functional restorations for organization of human body
Bionical design requirement is high, and from the point of view of comprehensive every field, always bionic mechanical is manufactured and health for the design studies of apery hand manipulator
The emphasis of multiple medical research.
In this regard, Chinese patent application (ZL:2014205579340) a kind of apery hand mechanical paw, the manipulator are disclosed
Four fingers and thumb mechanical finger disclosed in pawl are sequentially arranged on metacarpus, are hinged between four fingers and each joint of thumb
Connection, above-mentioned four finger and thumb are stretched and respective motor connection by stretching connection, by the rotating of controlled motor,
So as to reach the effect for imitating finger bending, although above-mentioned apery hand mechanical paw being capable of natural imitation people to a certain extent
Finger bending action, but the freedom of motion of above-mentioned mechanical paw is very low, it is impossible to imitate many complex swings of staff
Action, does not possess the prospect industrially applied.
Utility model content
The purpose of this utility model is：A kind of apery hand mechanical paw is provided, is capable of the naturally curved of natural imitation finger
Folding and swing, improve the flexibility ratio of mechanical paw.
For achieving the above object, the technical solution adopted in the utility model is：
A kind of apery hand mechanical paw, including machinery four refer to and mechanical thumb, machinery four refer to and mechanical thumb joint it
Between be respectively articulated with, each joint that machinery four refers to are connected respectively with first connecting rod mechanism, each joint of mechanical thumb respectively with
Second connecting rod mechanism connects, and described mechanical four fingers one end is hinged and is arranged on frame plate, and movable type is provided with the frame plate
Blade fin, is provided with power transmission slide block, the first connecting rod mechanism and power transmission slide block ball-joint, first connecting rod machine in blade fin
Structure is also hinged with the rotation connecting rod one end on frame plate, and the other end rotary type for rotating connecting rod is arranged on frame plate, turns
The two ends jointed shaft of dynamic connecting rod is vertical, and drive mechanism drives power transmission slide block to be located in blade fin and moves, and interlocks machinery four
Refer to and wobbling action is presented, described mechanical thumb one end is hinged and is arranged on extending bracket, it is portable on the extending bracket to arrange
There is transition linkage unit, power sliding block is provided with transition linkage unit, the second connecting rod mechanism passes through transition linkage unit
It is connected with drive mechanism, drive mechanism drives power sliding block and interlocks mechanical thumb and wobbling action is presented.
Also there is following technical characteristic in the utility model：
Described mechanical four refer to include it is remote, in, nearly articulations digitorum manus, it is remote, in, nearly articulations digitorum manus hinge connections, the nearly articulations digitorum manus with
The edge ball-joint of frame plate, the mechanical thumb include it is remote, in, nearly thumb joint, it is remote, in, nearly thumb joint hinge connections,
Nearly thumb joint is hinged with transition linkage unit, and nearly thumb joint also forms ball-joint with extending bracket.
The frame plate is provided with blade fin, and guiding slide opening is provided with the blade fin, and the guiding slide opening is
Circular arc, power transmission slide block is located to be oriented in slide opening and slides, and the drive mechanism is connected and drives blade fin edge with blade fin
Bar shaped slide opening length direction to move back and forth, spring and damper are provided between the power transmission slide block and blade fin and are constituted
Flexible connection.
First connecting rod mechanism includes remote finger slide block and the middle finger slide block being connected with remote articulations digitorum manus and middle articulations digitorum manus outer wall, far refers to
Slide block and middle finger slide block constitute being slidably matched for length direction, one end of the first transmission rod with remote articulations digitorum manus and middle articulations digitorum manus respectively
It is hinged is arranged on and far refer on slide block, far refers to that slide block and middle finger slide block are provided with spring between remote articulations digitorum manus and middle articulations digitorum manus respectively
And damper and flexible connection being constituted, the other end and the middle finger joint of the first transmission rod are hinged and the jointed shaft at two ends and remote finger
Jointed shaft between joint and middle articulations digitorum manus is parallel, is hinged on middle finger slide block and is provided with the second transmission rod, the second transmission rod it is another
One end is hinged with nearly articulations digitorum manus and the jointed shaft at two ends is parallel with the jointed shaft at the first transmission rod two ends, the first transmission rod and second
Be provided with the 3rd transmission rod between transmission rod, the two ends of the 3rd transmission rod by jointed shaft respectively with the first transmission rod and the
Two transmission rods connect and the jointed shaft between jointed shaft and remote articulations digitorum manus and middle articulations digitorum manus is parallel, also set on second transmission rod
The 4th transmission rod is equipped with, the two ends of the 4th transmission rod are hinged respectively and jointed shaft and frame with the second transmission rod and frame plate
Jointed shaft between the remote articulations digitorum manus of plate and middle articulations digitorum manus is parallel, and the rotation connecting rod is hinged with one end of the 4th transmission rod, turns
The rotary shaft heart yearn of dynamic connecting rod is vertical with frame plate plate face.
It is articulated and connected by first, second connecting rod between the remote articulations digitorum manus and middle articulations digitorum manus and jointed shaft and first is passed
The jointed shaft of power bar rod end is parallel, be articulated and connected by the three, the 4th connecting rods between the middle articulations digitorum manus and nearly articulations digitorum manus and
Jointed shaft is parallel with the jointed shaft of the second transmission rod rod end, and the bar length of the 3rd transmission rod and the 4th transmission rod is adjustable, is located at
The first force application rod is additionally provided with nearly articulations digitorum manus, one end of first force application rod is hinged and jointed shaft and second with nearly articulations digitorum manus
The jointed shaft of transmission rod rod end is parallel, the other end and the power transmission slide block ball-joint of first force application rod, the length of the first force application rod
Degree is adjustable.
The second connecting rod mechanism includes the first slide block and second being connected with middle finger joint outer wall with remote thumb joint
Slide block, the first slide block and the second slide block constitute respectively being slidably matched for length direction with remote thumb joint and middle finger joint, and one
Spring and damper are respectively arranged between slide block and the second slide block and remote thumb joint and middle finger joint and flexible company is constituted
Connect, spring and damper and composition are respectively arranged between the first slide block and the second slide block and remote thumb joint and middle finger joint
Flexible connection, one end of the first trace is hinged and is arranged on remote thumb joint, and the other end and the middle finger of the first trace are closed
Section is hinged and the jointed shaft between the jointed shaft at two ends and remote thumb joint and middle finger joint is parallel, is hinged on the second slide block and sets
The second trace is equipped with, the other end of the second trace is hinged and the jointed shaft at two ends and the first trace two with nearly thumb joint
The jointed shaft at end is parallel, is provided with the 3rd trace between the first trace and the second trace, and the two of the 3rd trace
End is connected respectively and jointed shaft and remote thumb joint and middle finger joint with the first trace by jointed shaft with the second trace
Between jointed shaft it is parallel, be additionally provided with the 4th trace on second trace, the two ends difference of the 4th trace
It is hinged with the second trace and transition linkage unit and the jointed shaft between jointed shaft and remote thumb joint and middle finger joint is put down
OK, connecting rod is set on the transition linkage unit, the connecting rod is hinged with one end of the 4th trace, connecting rod rotary type
It is arranged on transition linkage unit and rotational axis line is parallel with frame plate plate face.
It is articulated and connected by first, second hinge bar between the remote thumb joint and middle finger joint and jointed shaft and
The jointed shaft of one trace rod end is parallel, is cut with scissors by the three, the 4th hinge bars between the middle finger joint and nearly thumb joint
Connect in succession and jointed shaft is parallel with the jointed shaft of the second trace rod end, the bar length of the 3rd trace and the 4th trace can
Adjust, be additionally provided with the second force application rod on nearly thumb joint, one end of second force application rod be hinged with nearly thumb joint and
Jointed shaft is parallel with the jointed shaft of the second trace rod end, the other end of second force application rod and the power of transition linkage unit
Slide block ball-joint.
The transition linkage unit includes driving plate, and the elongated end of the driving plate is provided with bar shaped slide opening, the bar shaped
Slide opening hole length direction is vertically laid, and the power sliding block is slidably arranged in bar shaped slide opening, and the connecting rod rotary type is arranged on
On extending bracket, extending bracket is arranged on frame plate.
The drive mechanism includes the screw mandrel being arranged on frame plate, and screw mandrel constitutes leading screw and nut mechanism with drive nut,
One end of screw mandrel is provided with motor, and the blade fin and driving plate are arranged in drive nut, and motor drives silk
Bar is rotated, and the plate face that being extended on the frame plate has adjustable plate, the adjustable plate is provided with adjusting nut, in adjusting nut
Adjusting screw is set, and the bar length direction of adjusting screw is vertically and lower end is connected with hand support face.
Compared with the prior art, the beneficial effects of the utility model are embodied in：The mechanical paw imitates people's palm design machine
Tool four refers to and mechanical thumb that machinery four refers to and mechanical thumb is hinged setting, and connects by first, second linkage, machinery
Four fingers and mechanical thumb are arranged on frame plate, so as to the shape of natural imitation people's palm, interlock the first connecting rods that machinery four refers to
Mechanism is connected with power transmission slide block, in the presence of drive mechanism, drives first connecting rod mechanism action, first connecting rod to be located at frame plate
It is upper that the action for swinging and bending is presented, so as to the actual act that natural imitation people palm four refers to, interlock the second company of mechanical thumb
Linkage is connected by transition linkage unit with drive mechanism, and in the presence of drive mechanism, is in so as to interlock mechanical thumb
The action for now swinging, the freedom of motion of the mechanical paw is high, is capable of the actual act of natural imitation people's palm, and is driving five
During finger activity, the swing of the five fingers does not affect mass motion situation, does not affect the amplitude that mechanical finger bends and stretches, and flexibility ratio is high.
Description of the drawings
Fig. 1 is the structural representation of apery hand mechanical paw；
Fig. 2 is the structural representation that the machinery four of apery hand mechanical paw refers to；
Fig. 3 is the structural representation of the mechanical thumb of apery hand mechanical paw.
Specific embodiment
With reference to Fig. 1 to Fig. 3, the utility model is further described：
A kind of apery hand mechanical paw, including machinery four refer to and mechanical thumb, machinery four refer to and mechanical thumb joint it
Between be respectively articulated with, each joint that machinery four refers to are connected respectively with first connecting rod mechanism, each joint of mechanical thumb respectively with
Second connecting rod mechanism connects, and described mechanical four fingers one end is hinged and is arranged on frame plate 10, and movable type sets on the frame plate 10
It is equipped with blade fin 12, blade fin 12 and is provided with power transmission slide block 30, the first connecting rod mechanism and the ball pivot of power transmission slide block 30
Connect, first connecting rod mechanism is also hinged with the one end of rotation connecting rod 2231 on frame plate 10, rotate the other end of connecting rod 2231
Rotary type is arranged on frame plate 10, and the two ends jointed shaft for rotating connecting rod 2231 is vertical, and drive mechanism drives power transmission slide block 30
Move in blade fin 12, and interlock machinery four and refer to presentation wobbling action, described mechanical thumb one end is hinged to be arranged on prolongs
Stretch on support 11, movable type is provided with transition linkage unit on the extending bracket 11, arranges dynamic on transition linkage unit
Slide block 51, the second connecting rod mechanism is connected by transition linkage unit with drive mechanism, and drive mechanism drives power sliding block 51
And interlock mechanical thumb present wobbling action.
The mechanical paw imitates people's palm design machinery four and refers to and mechanical thumb that machinery four refers to and mechanical thumb is hinged and sets
Put, and connected by first, second linkage, machinery four refers to and mechanical thumb is arranged on frame plate 10, so as to imitate certainly
So the shape of people's palm, interlocks the mechanical four first connecting rod mechanisms for referring to and is connected for 30 pieces with force transferring slide, in the presence of drive mechanism,
So that first connecting rod mechanism is located on frame plate 10 is presented the action of swing, and interlocks machinery four and refer to opposing oscillatory and curved is presented
Folding action, so as to the actual act that natural imitation people palm four refers to, the second connecting rod mechanism for interlocking mechanical thumb is connected by transition
Bar unit is connected with drive mechanism, and in the presence of drive mechanism, the action for swinging, the machine is presented so as to interlock mechanical thumb
The freedom of motion of tool paw is high, is capable of the actual act of natural imitation people's palm, and when the five fingers activity is driven, the pendulum of the five fingers
It is dynamic not affect mass motion situation, the amplitude that mechanical finger bends and stretches is not affected, flexibility ratio is high.
Mechanical paw of the present utility model is due to higher flexibility, can be applicable to industry, medical treatment etc. to precision
Require in higher field.
Preferably scheme, is the similarity for further improving mechanical paw and natural person's palm, and mechanical four finger includes
Far, in, nearly articulations digitorum manus 21,22,23, it is remote, in, the hinge connections of nearly articulations digitorum manus 21,22,23, the nearly articulations digitorum manus 23 and frame plate
10 edge ball-joint, the mechanical thumb include it is remote, in, nearly thumb joint 41,42,43, it is remote, in, nearly thumb joint 41,
42nd, 43 hinge connections, nearly thumb joint 43 is hinged with transition linkage unit, and nearly thumb joint 43 also forms ball with extending bracket 11
Be hinged, the edge ball-joint of above-mentioned nearly articulations digitorum manus 23 Yu frame plate 10, and nearly thumb joint 43 also with the shape of extending bracket 11
Into ball-joint, can cause machinery four refer to and mechanical thumb there are multiple frees degree, can in space various dimensions swing, enter
One step improves the flexibility ratio of mechanical paw.
Further, bar shaped slide opening is provided with the frame plate 10, blade fin 12, institute is provided with power transmission slide block 30
State and guiding slide opening 121 is provided with blade fin 12, the guiding slide opening 121 is circular arc, power transmission slide block 30 is located to be oriented to and slides
Slide in hole 121, the guiding slide opening 121 at this can be arranged with discontinuous, or overall hole, the guiding slide opening of discontinuous
121 circle is at the home position of nearly articulations digitorum manus 23, and blade fin 12 is slidably arranged on bar shaped slide opening, the driving machine
Structure is connected with blade fin 12 and drives blade fin 12 to move back and forth along bar shaped slide opening length direction, so as to interlock force transferring slide
Block 30 is located at and is oriented to slip in slide opening 121, and the guiding slide opening 121 at this is arcuate socket, and then causes machinery four to refer to presentation bending
The action of swing, improves flexibility ratio.
Due to the free degree height of mechanical paw of the present utility model, to avoid mechanical paw from being located at pendulum random in space
It is dynamic, spring and damper are provided between the power transmission slide block 30 and blade fin 12 and flexible connection is constituted.
Further to improve the flexibility ratio of the mechanical paw, four fingers for being capable of natural imitation people's palm are located at pendulum in space
Dynamic, four refer to the concrete attitude for bending being presented and swinging, and shown first connecting rod mechanism includes and remote articulations digitorum manus 21 and middle articulations digitorum manus 22
Outer wall connection remote finger slide block 211 and middle finger slide block 221, far finger slide block 211 and middle finger slide block 221 respectively with remote articulations digitorum manus 21 and
Middle articulations digitorum manus 22 constitutes being slidably matched for length direction；
In the same manner, because the free degree of mechanical paw of the present utility model is high, to avoid mechanical paw from being located in space arbitrarily
Swing, far refer to that slide block 211 and middle finger slide block 221 are provided with respectively spring and resistance between remote articulations digitorum manus 21 and middle articulations digitorum manus 22
Buddhist nun's device and constitute flexible connection；
One end of first transmission rod 212 is hinged and is arranged on far finger slide block 211, and the other end of the first transmission rod 212 is with
Articulations digitorum manus 22 is hinged and the jointed shaft between the jointed shaft at two ends and remote articulations digitorum manus 21 and middle articulations digitorum manus 22 is parallel, middle finger slide block
Be hinged on 221 and be provided with the second transmission rod 222, the other end of the second transmission rod 222 be hinged with nearly articulations digitorum manus 23 and two ends hinge
Spindle is parallel with the jointed shaft at the two ends of the first transmission rod 212, and is provided between the first transmission rod 212 and the second transmission rod 222
Three transmission rods 213, the two ends of the 3rd transmission rod 213 by jointed shaft respectively with the first transmission rod 212 and the second transmission rod
The 222 connections and jointed shaft between jointed shaft and remote articulations digitorum manus 21 and middle articulations digitorum manus 22 is parallel, on second transmission rod 222 also
The 4th transmission rod 223 is provided with, the two ends of the 4th transmission rod 223 are hinged respectively with the second transmission rod 222 and frame plate 10
And the jointed shaft between jointed shaft and the remote articulations digitorum manus 21 of frame plate 10 and middle articulations digitorum manus 22 is parallel, it is described rotation connecting rod 2231 with
One end of 4th transmission rod 223 is hinged, and the rotary shaft heart yearn for rotating connecting rod 2231 is vertical with the plate face of frame plate 10.
It is to realize between remote articulations digitorum manus 21 and middle articulations digitorum manus 22 and middle articulations digitorum manus 22 and nearly articulations digitorum manus 23 in above-described embodiment
Be articulated and connected, be articulated and connected by first, second connecting rod 21a, 22a between the remote articulations digitorum manus 21 and middle articulations digitorum manus 22 and
Jointed shaft is parallel with the jointed shaft of the rod end of the first transmission rod 212, between the middle articulations digitorum manus 22 and nearly articulations digitorum manus 23 by the 3rd,
4th connecting rod 22b, 23a is articulated and connected and jointed shaft is parallel with the jointed shaft of the rod end of the second transmission rod 222；
To realize that above-mentioned remote articulations digitorum manus 21 is bent and swung with middle articulations digitorum manus 22 and middle articulations digitorum manus 22 with nearly articulations digitorum manus 23
The bar length of the fine setting of amplitude, the 3rd transmission rod 213 and the 4th transmission rod 223 is adjustable, is to realize that the power that machinery four refers to is defeated
Enter, the first force application rod 231, one end and the nearly articulations digitorum manus 23 of first force application rod 231 are additionally provided with nearly articulations digitorum manus 23
It is hinged and jointed shaft is parallel with the jointed shaft of the rod end of the second transmission rod 222, swings because machinery four refers to be presented in space
Attitude, the other end of first force application rod 231 and the ball-joint of power transmission slide block 30, the adjustable length of the first force application rod 231, on
Stating structure can further improve the flexibility ratio that machinery four refers to motion.
The embodiment that mechanical thumb swings is as follows：
The second connecting rod mechanism includes the first slide block 411 being connected with the outer wall of middle finger joint 42 with remote thumb joint 41
And second slide block 421, the first slide block 411 and the second slide block 421 constitute length with remote thumb joint 41 and middle finger joint 42 respectively
Spend being slidably matched for direction；
In the same manner, because the free degree of mechanical paw of the present utility model is high, to avoid mechanical paw from being located in space arbitrarily
Swing, the first slide block 411 and the second slide block 421 and be far respectively arranged with spring between thumb joint 41 and middle finger joint 42
And damper and composition flexible connection；
One end of first trace 412 is hinged and is arranged on remote thumb joint 41, and the other end of the first trace 412 is with
Thumb joint 42 is hinged and the jointed shaft between the jointed shaft at two ends and remote thumb joint 41 and middle finger joint 42 is parallel, and second
It is hinged on slide block 421 and is provided with the second trace 422, the other end of the second trace 422 is hinged and two with nearly thumb joint 43
The jointed shaft at end is parallel with the jointed shaft at the two ends of the first trace 412, sets between the first trace 412 and the second trace 422
Be equipped with the 3rd trace 413, the two ends of the 3rd trace 413 by jointed shaft respectively with the first trace 412 and second
Trace 422 connects and the jointed shaft between jointed shaft and remote thumb joint 41 and middle finger joint 42 is parallel, and described second connects
Be additionally provided with the 4th trace 423 in lever 422, the two ends of the 4th trace 423 respectively with the second trace 422 and mistake
Cross that linkage unit is hinged and the jointed shaft between jointed shaft and remote thumb joint 41 and middle finger joint 42 is parallel, the transition connects
Connecting rod 4231 is set on bar unit, and the connecting rod 4231 is hinged with one end of the 4th trace 423, and connecting rod 4231 is rotated
Formula is arranged on transition linkage unit and rotational axis line is parallel with the plate face of frame plate 10.
Above-mentioned mechanical thumb can be presented the attitude that bending swings in space, due to four fingers and the thumb of natural person
There is larger difference in bone and muscle, therefore thumb and four athletic postures for referring to have larger difference, in this regard, by adjustment
The arrangement of above-mentioned second connecting rod mechanism, imitates thumb and swings in space, so as to improve the spirit of mechanical paw mechanical thumb motion
Activity.
It is to realize between remote articulations digitorum manus 21 and middle articulations digitorum manus 22 and middle articulations digitorum manus 22 and nearly articulations digitorum manus 23 in above-described embodiment
Be articulated and connected, company is hinged by first, second hinge bar 41a, 42a between the remote thumb joint 41 and middle finger joint 42
Connect and jointed shaft is parallel with the jointed shaft of the rod end of the first trace 412, between the middle finger joint 42 and nearly thumb joint 43
It is articulated and connected by the three, the 4th hinge bar 42b, 43a and jointed shaft is parallel with the jointed shaft of the rod end of the second trace 422；
For realize remote thumb joint 41 and middle finger joint 42 and middle finger joint 42 bend with nearly thumb joint 43 and
The bar length of the fine setting of swing, the 3rd trace 413 and the 4th trace 423 is adjustable, also sets on nearly thumb joint 43
The second force application rod 431 is equipped with, one end of second force application rod 431 is hinged and jointed shaft and the second gearing with nearly thumb joint 43
The jointed shaft of the rod end of bar 422 is parallel, because mechanical thumb can be presented the attitude of swing, second force application rod in space
431 other end and the ball-joint of power sliding block 51 of transition linkage unit.
The transition linkage unit includes driving plate 52, and the elongated end of the driving plate 52 is provided with guiding slide opening 521, institute
State the guiding hole length direction of slide opening 521 vertically to lay, the power sliding block 51 is slidably arranged in guiding slide opening 521, the connection
The rotary type of bar 4231 is arranged on extending bracket 11, and extending bracket 11 is arranged on the swing on frame plate 10 due to mechanical thumb and deposits
Connection between certain drift angle, the extending bracket 11 and drive mechanism should be the connection of flexibility, can avoid machinery
The situation that thumb cannot swing, the mode of above-mentioned flexible connection can be adopted and arrange compression spring in one end of support 11, work as needs
When thumb swings, compression unit compression, so as to realize the attitude that mechanical thumb swings.
The drive mechanism includes the screw mandrel 61 being arranged on frame plate 10, and screw mandrel 61 constitutes feed screw nut with drive nut
Mechanism, one end of screw mandrel 61 is provided with motor 62, and the blade fin 12 and driving plate 52 are arranged in drive nut, drives
The drive screw 61 of dynamic motor 62 is rotated, and being extended on the driving pole 54 has adjustable plate 541, the plate of the adjustable plate 541
Face is provided with adjusting nut, arranges adjusting screw in adjusting nut, and the bar length direction of adjusting screw is vertically and lower end and hand
Support face is connected.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can in other specific forms realize that this practicality is new
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type is by claims rather than described above is limited, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as restriction
Involved claim.
Moreover, it will be appreciated that although this specification is been described by according to embodiment, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity those skilled in the art should
Using specification as an entirety, the technical scheme in each embodiment can also Jing it is appropriately combined, form those skilled in the art
Understandable other embodiment.
Claims (8)
1. a kind of apery hand mechanical paw, it is characterised in that：Refer to including machinery four and mechanical thumb, machinery four refers to and mechanical thumb
Joint between be respectively articulated with, machinery four refer to each joint be connected with first connecting rod mechanism respectively, mechanical thumb each close
Section is connected respectively with second connecting rod mechanism, and described mechanical four fingers one end is hinged and is arranged on frame plate (10), the frame plate
(10) movable type is provided with blade fin (12), blade fin (12) and is provided with power transmission slide block (30), the first connecting rod on
Mechanism and power transmission slide block (30) ball-joint, first connecting rod mechanism also cuts with scissors with rotation connecting rod (2231) one end on frame plate (10)
Connect, the other end rotary type for rotating connecting rod (2231) is arranged on frame plate (10), rotate the two ends hinge of connecting rod (2231)
Spindle is vertical, and drive mechanism drives power transmission slide block (30) to move in blade fin (12), and interlocks the finger presentation pendulum of machinery four
Action, described mechanical thumb one end is hinged and is arranged on extending bracket (11), portable on the extending bracket (11) to arrange
There is transition linkage unit, power sliding block (51) is provided with transition linkage unit, the second connecting rod mechanism passes through transition connecting rod
Unit is connected with drive mechanism, and drive mechanism drives power sliding block (51) and interlocks mechanical thumb and wobbling action is presented.
2. apery hand mechanical paw according to claim 1, it is characterised in that：Described mechanical four refer to include it is remote, in, near finger
Joint (21,22,23), it is remote, in, nearly articulations digitorum manus (21,22,23) hinge connections, the nearly articulations digitorum manus (23) and frame plate (10)
Edge be hinged, the mechanical thumb include it is remote, in, thumb proximal joint (41,42,43), it is remote, in, thumb proximal joint
(41,42,43) hinge connections, thumb proximal joint (43) are hinged with transition linkage unit, thumb proximal joint (43) also with prolong
Stretch support (11) to be hinged.
3. apery hand mechanical paw according to claim 1 and 2, it is characterised in that：First connecting rod mechanism includes and far refers to
Joint (21) and middle articulations digitorum manus (22) outer wall connection remote finger slide block (211) and middle finger slide block (221), far refer to slide block (211) and
Middle finger slide block (221) constitutes being slidably matched for length direction, the first power transmission with remote articulations digitorum manus (21) and middle articulations digitorum manus (22) respectively
One end of bar (212) is hinged to be arranged on and far refer on slide block (211), the other end and middle articulations digitorum manus (22) of the first transmission rod (212)
It is hinged and the jointed shaft between the jointed shaft at two ends and remote articulations digitorum manus (21) and middle articulations digitorum manus (22) is parallel, middle finger slide block (221)
On be hinged and be provided with the second transmission rod (222), the other end of the second transmission rod (222) is hinged and two ends with nearly articulations digitorum manus (23)
Jointed shaft is parallel with the jointed shaft at the first transmission rod (212) two ends, arranges between the first transmission rod (212) and nearly articulations digitorum manus (23)
Have the 3rd transmission rod (213), the two ends of the 3rd transmission rod (213) respectively with the first transmission rod (212) and nearly articulations digitorum manus
(23) it is hinged and the jointed shaft between jointed shaft and remote articulations digitorum manus (21) and middle articulations digitorum manus (22) is parallel, second transmission rod
(222) be additionally provided with the 4th transmission rod (223) on, the two ends of the 4th transmission rod (223) respectively with the second transmission rod (222)
And rotation connecting rod (2231) is hinged, rotation connecting rod (2231) is hinged with one end of the 4th transmission rod (223), the company of rotation
The rotary shaft heart yearn of extension bar (2231) is vertical with frame plate (10) plate face.
4. apery hand mechanical paw according to claim 3, it is characterised in that：The second connecting rod mechanism includes and thumb
The first slide block (411) and the second slide block (421) that distal joint (41) is connected with thumb middle-end joint (42) outer wall, the first slide block
And the second slide block (421) constitutes respectively the cunning of length direction with thumb distal joint (41) and thumb middle-end joint (42) (411)
Dynamic to coordinate, one end of the first trace (412) is hinged and is arranged in thumb distal joint (41), the first trace (412) it is another
One end and thumb middle-end joint (42) be hinged and two ends jointed shaft and thumb distal joint (41) and thumb middle-end joint (42)
Between jointed shaft it is parallel, be hinged on the second slide block (421) and be provided with the second trace (422), the second trace (422) it is another
One end is hinged with thumb proximal joint (43) and the jointed shaft at two ends is parallel with the jointed shaft at the first trace (412) two ends, the
The 3rd trace (413), the 3rd trace (413) are provided between one trace (412) and thumb proximal joint (43)
Two ends be hinged with the first trace (412) and thumb proximal joint (43) respectively and jointed shaft and thumb distal joint (41) and
Jointed shaft between thumb middle-end joint (42) is parallel, and on second trace (422) the 4th trace is additionally provided with
(423), the two ends of the 4th trace (423) are hinged respectively with the second trace (422) and connecting rod (4231), the company
Extension bar (4231) and extending bracket (11) are hinged and between jointed shaft and thumb distal joint (41) and thumb middle-end joint (42)
Jointed shaft it is vertical.
5. apery hand mechanical paw according to claim 4, it is characterised in that：3rd transmission rod (213) and the 4th
The bar length of transmission rod (223) is adjustable, and the first force application rod (231), first force application rod are additionally provided with nearly articulations digitorum manus (23)
(231) one end is hinged with nearly articulations digitorum manus (23) and jointed shaft is parallel with the jointed shaft of the second transmission rod (222) rod end, and described
The other end of one force application rod (231) is hinged with power transmission slide block (30), the adjustable length of the first force application rod (231), and the described 3rd connects
The bar length of lever (413) and the 4th trace (423) is adjustable, and on thumb proximal joint (43) the second force application rod is additionally provided with
(431), one end of second force application rod (431) is hinged and jointed shaft and the second trace with thumb proximal joint (43)
(422) jointed shaft of rod end is parallel, the power sliding block on the other end and transition linkage unit of second force application rod (431)
(51) it is hinged.
6. apery hand mechanical paw according to claim 2, it is characterised in that：There is bar shaped to slide on the blade fin (12)
Hole (121), power transmission slide block (30) slides in bar shaped slide opening (121), and blade fin (12) is connected with connecting bracket (54), institute
State connecting bracket (54) to be connected with drive mechanism, the drive mechanism drives blade fin (12) reciprocal on frame plate (10)
It is mobile.
7. apery hand mechanical paw according to claim 2, it is characterised in that：The transition linkage unit includes driving plate
(52), the elongated end of the driving plate (52) is provided with guiding slide opening (521), and the power sliding block (51) is slidably arranged in guiding
In slide opening (521), the extending bracket (11) is arranged on frame plate (10).
8. apery hand mechanical paw according to claim 6, it is characterised in that：The drive mechanism includes being arranged on frame
Screw mandrel (61) on plate (10), one end of screw mandrel (61) is provided with motor (62), and the connecting bracket (54) is arranged on drive
On dynamic nut, motor (62) drive screw (61) is rotated, and being extended on the frame plate (10) has adjustable plate (541),
The plate face of the adjustable plate (541) is provided with adjusting nut, adjusting nut and arranges adjusting screw, the bar length direction of adjusting screw
Vertical and lower end is connected with hand support face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621147424.1U CN206154333U (en) | 2016-10-21 | 2016-10-21 | Imitative staff mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621147424.1U CN206154333U (en) | 2016-10-21 | 2016-10-21 | Imitative staff mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206154333U true CN206154333U (en) | 2017-05-10 |
Family
ID=58655618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621147424.1U Withdrawn - After Issue CN206154333U (en) | 2016-10-21 | 2016-10-21 | Imitative staff mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206154333U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426241A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulating mechanical paw |
| CN107550685A (en) * | 2017-09-30 | 2018-01-09 | 华中科技大学 | A kind of hand exoskeleton device of compatible human hand pivot |
| CN108436952A (en) * | 2018-02-27 | 2018-08-24 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
-
2016
- 2016-10-21 CN CN201621147424.1U patent/CN206154333U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426241A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulating mechanical paw |
| CN106426241B (en) * | 2016-10-21 | 2019-04-30 | 合肥工业大学 | Apery hand mechanical paw |
| CN107550685A (en) * | 2017-09-30 | 2018-01-09 | 华中科技大学 | A kind of hand exoskeleton device of compatible human hand pivot |
| CN108436952A (en) * | 2018-02-27 | 2018-08-24 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| CN108436952B (en) * | 2018-02-27 | 2019-07-23 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170510 Effective date of abandoning: 20190430 |