CN206393656U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN206393656U CN206393656U CN201720035412.8U CN201720035412U CN206393656U CN 206393656 U CN206393656 U CN 206393656U CN 201720035412 U CN201720035412 U CN 201720035412U CN 206393656 U CN206393656 U CN 206393656U
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- finger
- metacarpus
- thumb
- driving
- 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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- 210000003811 finger Anatomy 0.000 claims abstract description 81
- 210000001037 metacarpus Anatomy 0.000 claims abstract description 49
- 210000004932 little finger Anatomy 0.000 claims abstract description 34
- 210000003813 thumb Anatomy 0.000 claims abstract description 34
- 210000005224 forefinger Anatomy 0.000 claims abstract description 31
- 230000007423 decrease Effects 0.000 description 5
- 238000013021 overheating Methods 0.000 description 5
- 238000010146 3D printing Methods 0.000 description 4
- 210000001145 finger joint Anatomy 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- User Interface Of Digital Computer (AREA)
Abstract
The utility model discloses a kind of manipulator, including thumb, forefinger, middle finger, it is nameless, little finger of toe and metacarpus, the thumb, forefinger, middle finger, nameless and little finger of toe is articulated and connected with metacarpus, mounting groove is provided with the metacarpus, the first steering wheel for driving thumb is provided with the mounting groove, the second steering wheel for driving forefinger, the 3rd steering wheel for driving middle finger, the 4th nameless steering wheel and the 5th steering wheel for driving little finger of toe for driving, first steering wheel, second steering wheel, 3rd steering wheel, 4th steering wheel and the 5th steering wheel with metacarpus mortise-tenon joint, heat emission hole is provided with the metacarpus；The manipulator flexibility is good.
Description
Technical field
The utility model is related to a kind of manipulator.
Background technology
In contemporary industry, robot, which refers to, can perform the man-made machine device of task automatically, to replace or assist the mankind
Work.Current scientific circles constantly research and develop to robot.
Manipulator is one of part of robot, in life now, under the progress of Science and Technology Day crescent benefit, machine
The maximum difference of tool hand and mankind's hand is that flexibility ratio, and existing manipulator typically controls five simultaneously using a drive mechanism
The running of finger, single finger can not work independently, using and it is dumb.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of good manipulator of flexibility.
To solve the above problems, the utility model is adopted the following technical scheme that：
A kind of manipulator, including thumb, index finger, middle finger, ring finger and little finger and metacarpus, the thumb, forefinger, in
Refer to, nameless and little finger of toe is articulated and connected with metacarpus, being provided with to be provided with mounting groove, the mounting groove in the metacarpus is used for
Drive the first steering wheel of thumb, the second steering wheel for driving forefinger, the 3rd steering wheel for driving middle finger, for driving nothing
The 4th steering wheel that name refers to and the 5th steering wheel for driving little finger of toe, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th rudder
Machine and the 5th steering wheel with metacarpus mortise-tenon joint, be provided with heat emission hole on the metacarpus.
Preferably, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel are connected with steering wheel
Disk, the steering wheel disk side is provided with wire casing, and the thumb, forefinger, middle finger, the third finger and little finger of toe end are connected with drawing
Rope, the drawstring end is fixedly connected with the bottom land of wire casing, and steering wheel and finger are connected by drawstring and steering wheel disk, during work, rudder
Machine drives steering wheel disk to carry out take-up and unwrapping wire so that finger execution, drive mechanism is simple.
Preferably, metallic channel is provided with the thumb, forefinger, middle finger, the third finger and little finger of toe, by being provided with
Metallic channel, can be connected up with convenient use person.
Preferably, mortise is provided with the metacarpus, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel
Be provided with tenon on the 5th steering wheel, the metacarpus and each steering wheel are connected by mortise and tenon, and stable connection is reliable.
Preferably, the heat emission hole is connected with mounting groove, the heat on the steering wheel in mounting groove can be caused
The external world well can be delivered to.
Preferably, the mounting groove is provided with 5, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel
Agree with the 5th steering wheel with mounting groove, the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel are installed to
Mounting groove rear stability is good, situation about will not shake.
The beneficial effects of the utility model are：By be provided with metacarpus for drive thumb the first steering wheel, use
In the second steering wheel of driving forefinger, the 3rd steering wheel for driving middle finger, the 4th steering wheel for driving the third finger and for driving
5th steering wheel of dynamic little finger of toe, each finger can individually be worked by single servo driving, each finger, flexibly
Property it is good, be conducive to capturing variously-shaped article, and by being provided with heat emission hole on metacarpus, the heat that steering wheel can be produced
Amount is delivered to the external world, can prevent steering wheel from occurring overheating when long-time is used and cause service life to decline or burn, this
Outside, the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel are connected with steering wheel disk, and steering wheel disk side is respectively provided with
There is wire casing, thumb, forefinger, middle finger, the third finger and little finger of toe end are connected with drawstring, and the bottom land fixation of drawstring end and wire casing connects
Connect, during work, steering wheel drives steering wheel disk to carry out take-up and unwrapping wire so that finger execution, drive mechanism is simple.Thumb,
Metallic channel is provided with forefinger, middle finger, the third finger and little finger of toe, by being provided with metallic channel, can be connected up with convenient use person.The palm
It is provided with portion on mortise, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel and is provided with tenon
Head, the metacarpus and each steering wheel are connected by mortise and tenon, and stable connection is reliable.Heat emission hole is connected with mounting groove, can
The heat on steering wheel that is located at alloing in mounting groove it is good be delivered to the external world.Mounting groove is provided with 5, described first
Steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel agree with mounting groove, the first steering wheel, the second steering wheel,
Three steering wheels, the 4th steering wheel and the 5th steering wheel are installed to the situation that mounting groove rear stability is good, will not shake.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of overall structure diagram of manipulator of the utility model；
Fig. 2 is a kind of structural representation of the metacarpus of manipulator of the utility model；
Fig. 3 is that a kind of steering wheel of the metacarpus of manipulator of the utility model is assembled into the schematic diagram after metacarpus；
Fig. 4 is a kind of structural representation of the first steering wheel of manipulator of the utility model；
Fig. 5 is a kind of partial structural diagram of the middle finger of manipulator of the utility model；
Fig. 6 is a kind of structural representation of the steering wheel disk of manipulator of the utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.
Embodiment 1
As Figure 1-4, a kind of manipulator, including thumb 1, forefinger 2, middle finger 3, the third finger 4, little finger of toe 5 and metacarpus 6,
The thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5 are articulated and connected with metacarpus 6, and installation is provided with the metacarpus 6
It is provided with groove 7, the mounting groove 7 for driving the first steering wheel 8 of thumb 1, the second steering wheel 9 for driving forefinger 2, using
The 3rd steering wheel 10 in driving middle finger 3, the 4th steering wheel 11 for driving the third finger 4 and the 5th steering wheel for driving little finger of toe 5
12, first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12 connect with the Tenon of metacarpus 6
Connect, first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12 respectively with thumb 1, food
Refer to and be provided with heat emission hole 13 on 2, middle finger 3, the third finger 4 and the transmission of the drag-line of little finger of toe 5, the metacarpus 6.Thumb 1, forefinger 2, middle finger
3rd, the third finger 4 and little finger of toe 5 are made all in accordance with the bascule of human finger by the way of 3D printing, are separated during printing
Multiple finger joints are made, and each finger joint that the same hand refers to is articulated and connected using swivel pin, mode system of the metacarpus equally through 3D printing
Make, the size of mounting groove makes according to the size of steering wheel, the compatible degree of mounting groove and steering wheel is high.By being provided with metacarpus 6
The first steering wheel 8, the second steering wheel 9 for driving forefinger 2, the 3rd steering wheel for driving middle finger 3 for driving thumb 1
10th, for driving the 4th steering wheel 11 and the 5th steering wheel 12 for driving little finger of toe 5 of the third finger 4, each finger is by single
Servo driving, each finger can individually be worked, and flexibility is good, be conducive to capturing variously-shaped article, and
By being provided with heat emission hole 13 on metacarpus 6, the heat transfer that can produce steering wheel can prevent steering wheel when long to the external world
Between occur overheating when using and cause service life to decline or burn.
The present embodiment has the beneficial effect that：By being provided with metacarpus for driving the first steering wheel of thumb, being used for
Drive the second steering wheel of forefinger, the 3rd steering wheel for driving middle finger, the 4th steering wheel for driving the third finger and for driving
5th steering wheel of little finger of toe, each finger can individually be worked by single servo driving, each finger, flexibility
It is good, be conducive to capturing variously-shaped article, and by being provided with heat emission hole on metacarpus, the heat that steering wheel can be produced
The external world is delivered to, can prevent steering wheel from occurring overheating when long-time is used and cause service life to decline or burn.
Embodiment 2
As Figure 1-5, a kind of manipulator, including thumb 1, forefinger 2, middle finger 3, the third finger 4, little finger of toe 5 and metacarpus 6,
The thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5 are articulated and connected with metacarpus 6, and installation is provided with the metacarpus 6
It is provided with groove 7, the mounting groove 7 for driving the first steering wheel 8 of thumb 1, the second steering wheel 9 for driving forefinger 2, using
The 3rd steering wheel 10 in driving middle finger 3, the 4th steering wheel 11 for driving the third finger 4 and the 5th steering wheel for driving little finger of toe 5
12, first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12 connect with the Tenon of metacarpus 6
Connect, heat emission hole 13 is provided with the metacarpus 6.First steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the and of the 4th steering wheel 11
5th steering wheel 12 is connected with steering wheel disk 14, and the side of steering wheel disk 14 is provided with wire casing 15, the thumb 1, forefinger 2, in
Refer to the 3, third finger 4 and the end of little finger of toe 5 be fixed with drawstring 16, the end of drawstring 16 is fixedly connected with the bottom land of wire casing 15,
Drawstring 16 uses steel wire rope, and steering wheel and finger are connected by drawstring and steering wheel disk, and during work, steering wheel drives steering wheel disk to carry out take-up
And unwrapping wire so that finger execution, drive mechanism is simple.In the thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5
Metallic channel 17 is provided with, by being provided with metallic channel 17, can be connected up with convenient use person.Mortise is provided with the metacarpus 6
（It is not shown）, it is provided with first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12
Tenon 18, the metacarpus 6 and each steering wheel are connected by mortise and tenon 18, and stable connection is reliable.The heat emission hole 13 and peace
Tankage 7 is connected, can allow the heat on the steering wheel in the mounting groove 7 it is good be delivered to the external world.It is described to install
Groove 7 is provided with 5, first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12 with peace
Tankage 7 agrees with, and the first steering wheel 8, the second steering wheel 9, the 3rd steering wheel 10, the 4th steering wheel 11 and the 5th steering wheel 12 are respectively installed to installation
Groove rear stability is good, situation about will not shake.Thumb 1, forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5 are all in accordance with human body
The bascule of finger, is made by the way of 3D printing, and multiple finger joints are separated during printing and are made, it is each that the same hand refers to
Individual finger joint is articulated and connected using swivel pin, and the metacarpus equally mode through 3D printing makes, and the size of mounting groove is according to the chi of steering wheel
Very little to make, the compatible degree of mounting groove and steering wheel is high.By be provided with metacarpus 6 for drive thumb 1 the first steering wheel 8,
For driving the second steering wheel 9 of forefinger 2, the 3rd steering wheel 10 for driving middle finger 3, the 4th steering wheel for driving the third finger 4
11 and for driving the 5th steering wheel 12 of little finger of toe 5, each finger is by single servo driving, and each finger can carry out list
Only work, flexibility is good, is conducive to capturing variously-shaped article, and by being provided with heat emission hole 13 on metacarpus 6, can
Heat transfer so that steering wheel to be produced can prevent that steering wheel from occurring overheating when long-time is used and causes service life to the external world
Decline or burn.
The present embodiment has the beneficial effect that：By being provided with metacarpus for driving the first steering wheel of thumb, being used for
Drive the second steering wheel of forefinger, the 3rd steering wheel for driving middle finger, the 4th steering wheel for driving the third finger and for driving
5th steering wheel of little finger of toe, each finger can individually be worked by single servo driving, each finger, flexibility
It is good, be conducive to capturing variously-shaped article, and by being provided with heat emission hole on metacarpus, the heat that steering wheel can be produced
The external world is delivered to, can prevent steering wheel from occurring overheating when long-time is used and cause service life to decline or burn, first
Steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel are connected with steering wheel disk, and steering wheel disk side is provided with wire casing,
Thumb, forefinger, middle finger, the third finger and little finger of toe end are connected with drawstring, and drawstring end is fixedly connected with the bottom land of wire casing, work
When, steering wheel drives steering wheel disk to carry out take-up and unwrapping wire so that finger execution, drive mechanism is simple.Thumb, forefinger, in
Metallic channel is provided with finger, nameless and little finger of toe, by being provided with metallic channel, can be connected up with convenient use person.Set on metacarpus
It is equipped with mortise, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel and is provided with tenon, it is described
Metacarpus and each steering wheel are connected by mortise and tenon, and stable connection is reliable.Heat emission hole is connected with mounting groove, can cause position
Well the external world can be delivered in the heat on the steering wheel in mounting groove.Mounting groove is provided with 5, first steering wheel,
Two steering wheels, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel agree with mounting groove, the first steering wheel, the second steering wheel, the 3rd steering wheel,
4th steering wheel and the 5th steering wheel are installed to the situation that mounting groove rear stability is good, will not shake.
It is described above, embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, any change or replacement expected without creative work should all be covered within protection domain of the present utility model.
Claims (6)
1. a kind of manipulator, it is characterised in that：Including thumb, index finger, middle finger, ring finger and little finger and metacarpus, the big thumb
Finger, forefinger, middle finger, the third finger and little finger of toe are articulated and connected with metacarpus, are provided with the metacarpus in mounting groove, the mounting groove
It is provided with and is connected with thumb and is used to drive the first steering wheel of thumb, the second rudder for driving forefinger is connected and be used for forefinger
Machine, it is connected with middle finger and is used to drive the 3rd steering wheel of middle finger, be connected and with nameless for driving the 4th nameless steering wheel
With the 5th steering wheel that drives little finger of toe, first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel are connected and are used for little finger of toe
With the 5th steering wheel with metacarpus mortise-tenon joint, be provided with heat emission hole on the metacarpus.
2. a kind of manipulator according to claim 1, it is characterised in that：First steering wheel, the second steering wheel, the 3rd rudder
Machine, the 4th steering wheel and the 5th steering wheel are connected with steering wheel disk, and the steering wheel disk side is provided with wire casing, the thumb, forefinger,
Middle finger, the third finger and little finger of toe end are connected with drawstring, and the drawstring end is fixedly connected with the bottom land of wire casing.
3. a kind of manipulator according to claim 2, it is characterised in that：The thumb, forefinger, middle finger, the third finger and
Metallic channel is provided with little finger of toe.
4. a kind of manipulator according to claim 3, it is characterised in that：Mortise, described first are provided with the metacarpus
Tenon is provided with steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel, the metacarpus and steering wheel pass through tenon
Eye and tenon connection.
5. a kind of manipulator according to claim 4, it is characterised in that：The heat emission hole is connected with mounting groove.
6. a kind of manipulator according to claim 5, it is characterised in that：The mounting groove is provided with 5, first rudder
Machine, the second steering wheel, the 3rd steering wheel, the 4th steering wheel and the 5th steering wheel agree with mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720035412.8U CN206393656U (en) | 2017-01-12 | 2017-01-12 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720035412.8U CN206393656U (en) | 2017-01-12 | 2017-01-12 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206393656U true CN206393656U (en) | 2017-08-11 |
Family
ID=59512632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720035412.8U Expired - Fee Related CN206393656U (en) | 2017-01-12 | 2017-01-12 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206393656U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
-
2017
- 2017-01-12 CN CN201720035412.8U patent/CN206393656U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170811 |