CN206344166U - A kind of movable robot of finger - Google Patents
A kind of movable robot of finger Download PDFInfo
- Publication number
- CN206344166U CN206344166U CN201621371400.4U CN201621371400U CN206344166U CN 206344166 U CN206344166 U CN 206344166U CN 201621371400 U CN201621371400 U CN 201621371400U CN 206344166 U CN206344166 U CN 206344166U
- Authority
- CN
- China
- Prior art keywords
- finger
- phalanges
- manipulator
- marmem
- fixedly mounted
- 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
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Abstract
A kind of movable robot of finger, including two manipulators, every finger of every manipulator is hingedly mounted on same connecting rod, connecting rod is fixedly connected with mechanical arm, line wheel is fixedly mounted on the mechanical arm being connected with manipulator, several sleeves are fixedly mounted on the arm of manipulator, fixed block is fixedly mounted in the finger tip lateral surface of every finger of manipulator, each fixed block is connected by cotton rope with line wheel, cotton rope passes through corresponding sleeve, first phalanges of every finger and the lateral surface of the hinged place of the second phalanges are equipped with housing and marmem, housing inner top fixes amperage blower fan, blower fan is towards marmem, heating plate is provided with first phalanges and the second phalanges, heating plate can be contacted to marmem and heated.Heating plate can be heated to marmem in the utility model, marmem is restored to the original state, and then the first phalanges and the second phalanges can be made in a horizontal line, and it is in straight configuration to make finger, and stretching process is more soft.
Description
Technical field
The utility model is related to a kind of robot, the movable robot of specifically a kind of finger.
Background technology
Robotics development is rapid, and the finger of major part robot realizes the curved of finger-joint by mechanical mechanism at present
Song, and existing mechanical structure is all complex, control process is relatively complicated, more inconvenient in use.
Utility model content
The utility model provides a kind of finger movable robot, to solve defect of the prior art.
The utility model is achieved by the following technical programs：
A kind of movable robot of finger, including two manipulators, every finger of every manipulator are hingedly mounted on
Same connecting rod, connecting rod is fixedly connected with mechanical arm, and line wheel, machine are fixedly mounted on the mechanical arm being connected with manipulator
Several sleeves are fixedly mounted on the arm of tool hand, fixed block is fixedly mounted in the finger tip lateral surface of every finger of manipulator, each
Fixed block is connected by cotton rope with line wheel, and cotton rope passes through corresponding sleeve, the first phalanges of every finger and the second phalanges
The lateral surface of hinged place is equipped with housing and marmem, and housing inner top is fixedly mounted several blower fans, and blower fan is towards shape
Heating plate is provided with shape memory alloys, the first phalanges and the second phalanges, heating plate can be contacted to marmem and heated, every
Spring, one end of spring and the inner side of the first phalanges are provided between the medial surface of the first phalanges and the medial surface of connecting rod of finger
Face is fixedly connected, and the other end of spring is fixedly connected with the medial surface of connecting rod, and silica gel is fixedly mounted in the medial surface of every finger.
A kind of movable robot of finger as described above, described housing is made up of two housings, two housing hinges
Connection, one of housing is located at the lateral surface of the first phalanges, and another housing is located on the lateral surface of the second phalanges.
The utility model has the advantages that：There is manipulator to have in the utility model and open and grasp two states, it is open-shaped
During body, by the way that cotton rope is tensed, marmem heating is restored to the original state, and then five fingers of manipulator are opened；Machinery
When hand is in grasping state, loosen cotton rope, blower fan is dried marmem, make marmem that bending state is presented, and
And by pulling force of the spring to cotton rope, every finger of manipulator is in grasping state.Heating plate can be heated to marmem,
Marmem is restored to the original state, and then the first phalanges and the second phalanges can be made in a horizontal line, it is in stretch to make finger
State, stretching process is more soft.Marmem can be blowed for blower fan, make the reduction of marmem temperature,
And then bend, so as to so that finger be in bending state, and spring can make manipulator reset be in grasping state, make grasping more
To be soft, it is less susceptible to cause damage to grasping article.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the accompanying drawing used required in description of the prior art is briefly described, it should be apparent that, drawings in the following description are
Some embodiments of the present utility model, for those of ordinary skill in the art, are not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model；Fig. 2 is the structural representation of manipulator；Fig. 3 be Fig. 2 A to regarding
Figure.
Reference：The marmem of 1 manipulator, 2 line wheel, 3 sleeve, 4 fixed block, 5 cotton rope, 6 housing, 7 blower fan 8
The spring of 9 heating plate, 10 connecting rod 11.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that retouched
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
The movable robot of a kind of finger, as illustrated, including two manipulators 1, every finger of every manipulator 1 is equal
Same connecting rod 10 is hingedly mounted on, connecting rod 10 is fixedly connected with mechanical arm, on the mechanical arm being connected with manipulator 1
It is fixedly mounted on line wheel 2, the arm of manipulator 1 and several sleeves 3, the finger tip lateral surface of every finger of manipulator 1 is fixedly mounted
Fixed block 4 is fixedly mounted, each fixed block 4 is connected by cotton rope 5 with line wheel 2, cotton rope 5 passes through corresponding sleeve 3, every hand
The first phalanges and the lateral surface of the hinged place of the second phalanges referred to is equipped with housing 6 and marmem 8, the inner top of housing 6
Several blower fans 7 are fixedly mounted, blower fan 7 is towards marmem 8, and the first phalanges and the second phalanges are interior provided with heating plate 9, heating
Piece 9 can be contacted to marmem 8 and heated, between the medial surface of the first phalanges of every finger and the medial surface of connecting rod 10
Provided with spring 11, one end of spring 11 is fixedly connected with the medial surface of the first phalanges, the other end and the connecting rod 10 of spring 11
Medial surface is fixedly connected, and silica gel is fixedly mounted in the medial surface of every finger.By heat transfer heating plate 9 to marmem 8
Contact heating, the pulling force of spring 11 is less than the power that marmem 8 is in bending state.There is manipulator 1 to have in the utility model
Open and grasp two states, during open-shaped body, by the way that cotton rope 5 is tensed, the heating of marmem 8 restores to the original state, shape
The original state of shape memory alloys 8 is plate shaped, and then five fingers of manipulator 1 is opened；When manipulator 1 is in grasping state, put
Loose ends rope 5, blower fan 7 is dried marmem 8, makes marmem 8 that bending state is presented, and pass through 11 pairs of spring
The pulling force of cotton rope 5, every finger of manipulator 1 is in grasping state.Heating plate 9 can be heated to marmem 8, remember shape
Recall alloy 8 to restore to the original state, and then the first phalanges and the second phalanges can be made in a horizontal line, it is in straight configuration to make finger, is stretched
Exhibition process is more soft.Marmem 8 can be blowed for blower fan 7, make the reduction of the temperature of marmem 8, and then
Bending, so as to so that finger be in bending state, and spring 11 can make manipulator 1 reset be in grasping state, make grasping more
To be soft, it is less susceptible to cause damage to grasping article.
Specifically, the housing 6 described in the present embodiment is made up of two housings 6, and two housings 6 are articulated and connected, wherein one
Individual housing 6 is located at the lateral surface of the first phalanges, and another housing 6 is located on the lateral surface of the second phalanges.Housing 6 is by two housings
6 constitute, and two housings 6 are articulated and connected, simple in construction so as to be moved with the bending and opening of finger,
Also more facilitated in use.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from each embodiment technology of the utility model
The spirit and scope of scheme.
Claims (2)
1. a kind of movable robot of finger, it is characterised in that：Including two manipulators（1）, every manipulator（1）Every hand
Finger is hingedly mounted on same connecting rod（10）, connecting rod（10）It is fixedly connected with mechanical arm, with manipulator（1）Connection
Line wheel is fixedly mounted on mechanical arm（2）, manipulator（1）Arm on several sleeves are fixedly mounted（3）, manipulator（1）It is every
Fixed block is fixedly mounted in the finger tip lateral surface of root finger（4）, each fixed block（4）Pass through cotton rope（5）With line wheel（2）Connection,
Cotton rope（5）Through corresponding sleeve（3）, the lateral surface of the first phalanges of every finger and the hinged place of the second phalanges is equipped with shell
Body（6）And marmem（8）, housing（6）Several blower fans are fixedly mounted in inner top（7）, blower fan（7）Closed towards shape memory
Gold（8）, the first phalanges and the second phalanges are interior provided with heating plate（9）, heating plate（9）Can be to marmem（8）Contact heating,
The medial surface and connecting rod of first phalanges of every finger（10）Medial surface between be provided with spring（11）, spring（11）One end
It is fixedly connected with the medial surface of the first phalanges, spring（11）The other end and connecting rod（10）Medial surface be fixedly connected, every
Silica gel is fixedly mounted in the medial surface of finger.
2. a kind of movable robot of finger according to claim 1, it is characterised in that：Described housing（6）By two
Housing（6）Composition, two housings（6）It is articulated and connected, one of housing（6）Positioned at the lateral surface of the first phalanges, another shell
Body（6）On the lateral surface of the second phalanges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621371400.4U CN206344166U (en) | 2016-12-14 | 2016-12-14 | A kind of movable robot of finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621371400.4U CN206344166U (en) | 2016-12-14 | 2016-12-14 | A kind of movable robot of finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206344166U true CN206344166U (en) | 2017-07-21 |
Family
ID=59321344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621371400.4U Expired - Fee Related CN206344166U (en) | 2016-12-14 | 2016-12-14 | A kind of movable robot of finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206344166U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015745A (en) * | 2017-11-27 | 2018-05-11 | 清华大学 | A kind of flexible manipulator based on marmem |
| CN109998866A (en) * | 2019-05-17 | 2019-07-12 | 中国科学院沈阳自动化研究所 | A kind of flexible wearable hand healing robot of memory alloy wire driving |
| CN112548531A (en) * | 2020-12-28 | 2021-03-26 | 合肥皖液液压元件有限公司 | Gear pump shaft sleeve press-fitting device |
-
2016
- 2016-12-14 CN CN201621371400.4U patent/CN206344166U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015745A (en) * | 2017-11-27 | 2018-05-11 | 清华大学 | A kind of flexible manipulator based on marmem |
| CN108015745B (en) * | 2017-11-27 | 2020-04-28 | 清华大学 | Flexible manipulator based on shape memory alloy |
| CN109998866A (en) * | 2019-05-17 | 2019-07-12 | 中国科学院沈阳自动化研究所 | A kind of flexible wearable hand healing robot of memory alloy wire driving |
| CN109998866B (en) * | 2019-05-17 | 2023-05-12 | 中国科学院沈阳自动化研究所 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
| CN112548531A (en) * | 2020-12-28 | 2021-03-26 | 合肥皖液液压元件有限公司 | Gear pump shaft sleeve press-fitting device |
| CN112548531B (en) * | 2020-12-28 | 2022-04-26 | 合肥皖液液压元件有限公司 | Gear pump shaft sleeve press-fitting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170721 Termination date: 20171214 |