CN206623101U - A kind of forearm component and robot - Google Patents
A kind of forearm component and robot Download PDFInfo
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- CN206623101U CN206623101U CN201720280691.4U CN201720280691U CN206623101U CN 206623101 U CN206623101 U CN 206623101U CN 201720280691 U CN201720280691 U CN 201720280691U CN 206623101 U CN206623101 U CN 206623101U
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- middle finger
- component
- palm
- forearm
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Abstract
The utility model provides a kind of forearm component and robot, belongs to artificial intelligence field.The forearm component is used to be connected with palm component, including forearm framework, drive component and wrist assembly.Forearm framework one end is connected with wrist assembly by the second axis of rotation, and the direction of the second rotating shaft is consistent with the length direction of forearm framework.Drive component includes forearm actuator, and the output shaft of forearm actuator is connected with first gear, and first gear engages with second gear, and second gear is connected with the second rotating shaft.The robot includes above-mentioned forearm component.Forearm component provided by the utility model can realize rotation of the forearm framework relative to wrist assembly by forearm actuator, and gearratio is accurate, and action response is sensitive.
Description
Technical field
Artificial field is the utility model is related to, in particular to a kind of forearm component and robot.
Background technology
Robot technology develops rapidly, and manipulator is one of Main Means that robot interacts with the external world.With the mankind
Bionic mechanical hand of the hand with equal versatility and flexibility with the great market demand, it both can be used for robot,
It is also used as artificial limb and is applied to medical market.
At present, manipulator had both included the special manipulator for particular problem, also there is bionic mechanical hand.Existing bionical machine
The drive mechanism of tool hand, which has, comes and goes the shortcomings that control is inaccurate, flexibility is low, while drive mechanism setting is unreasonable, causes hand
The palm and finger are heavy, structure is numerous and jumbled, and bionical degree is not high.
Utility model content
The utility model provides a kind of forearm component and robot, it is intended to solves forearm component and machine in the prior art
Above mentioned problem existing for people.
What the utility model was realized in：
A kind of forearm component, for being connected with palm component, including forearm framework, drive component and wrist assembly；
Forearm framework one end is connected with wrist assembly by the second axis of rotation, and the direction of the second rotating shaft and forearm frame
The length direction of frame is consistent；
Drive component includes forearm actuator, and the output shaft of forearm actuator is connected with first gear, first gear and the
Two gears engage, and second gear is connected with the second rotating shaft.
In preferred embodiment of the present utility model, forearm framework is provided with the 3rd connecting hole, is set on wrist assembly
There is the 4th connecting hole, the 3rd connecting hole and the 4th connecting hole are adapted to the second rotating shaft.
In preferred embodiment of the present utility model, forearm framework is provided with drive component installing plate, drive component peace
Loading board is provided with multiple installation through-holes, and drive component is adapted to multiple installation through-holes.
In preferred embodiment of the present utility model, forearm component also includes flexible axle and flexible axle sleeve pipe, flexible axle one end with
Drive component is connected, and the flexible axle other end is used to be connected with palm component, and flexible axle passes through flexible axle sleeve pipe.
A kind of robot, including palm component, trunk and above-mentioned forearm component, forearm component is away from wrist assembly
One end and palm member hinges, wrist assembly are connected with trunk.
In preferred embodiment of the present utility model, drive component includes centre of the palm actuator, the output of centre of the palm actuator
Axle is connected with centre of the palm crank, and centre of the palm crank is connected by centre of the palm connecting rod with palm component.
In preferred embodiment of the present utility model, palm component includes centre of the palm component, middle finger assembly, on the component of the centre of the palm
Provided with middle finger connecting portion, middle finger connecting portion is blind hole structure, and middle finger assembly is connected with middle finger connecting portion.
In preferred embodiment of the present utility model, middle finger assembly includes the first middle finger joint and the second middle finger joint, and first
Middle finger joint is hinged with the second middle finger joint, and the one end of the first middle finger joint away from the second middle finger joint is connected with middle finger connecting portion.
In preferred embodiment of the present utility model, drive component also includes middle finger actuator, and middle finger actuator passes through
Middle finger flexible axle is connected with the second middle finger joint.
In preferred embodiment of the present utility model, centre of the palm component includes centre of the palm plate and palm back board, and centre of the palm plate and the palm are carried on the back
Plate surrounds centre of the palm chamber, and middle finger flexible axle is connected through centre of the palm chamber with the second middle finger joint.
The beneficial effects of the utility model are：The forearm component and robot that the utility model is obtained by above-mentioned design,
Rotated in use, forearm component can be realized by the cooperation between actuator, gear, wrist assembly, to imitate mankind's forearm
Rotation.The attachment structure is compact, and weight is small, and gearratio is accurate, and flexibility ratio is high.Forearm component and machine provided by the utility model
Device people, driving structure are arranged on arm, avoid finger and palm portion is excessively heavy, have very high bionical degree.
Brief description of the drawings
, below will be to required in embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
The accompanying drawing used is briefly described, it will be appreciated that and the following drawings illustrate only some embodiments of the present utility model, therefore not
The restriction to scope is should be considered as, for those of ordinary skill in the art, on the premise of not paying creative work,
Other related accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the bionic mechanical arm of the utility model embodiment offer under the first visual angle；
Fig. 2 is structural representation of the bionic mechanical arm of the utility model embodiment offer under the second visual angle；
Fig. 3 is structural representation of the bionic mechanical arm of the utility model embodiment offer under the 3rd visual angle；
Fig. 4 is structural representation of the forearm component of the utility model embodiment offer under the first visual angle；
Fig. 5 is structural representation of the forearm component of the utility model embodiment offer under the second visual angle；
Fig. 6 is structural representation of the bionic mechanical arm of the utility model embodiment offer under the 4th visual angle；
Fig. 7 is the partial enlarged drawing in VII portions in Fig. 6；
Fig. 8 is the structural representation for the middle finger assembly that the utility model embodiment provides；
Fig. 9 is structural representation of the centre of the palm component of the utility model embodiment offer under the first visual angle；
Figure 10 is structural representation of the centre of the palm component of the utility model embodiment offer under the second visual angle.
Icon：001- bionic mechanical arms；100- forearm components；200- palm components；110- forearm frameworks；130- drives
Component；150- wrist assemblies；170- flexible axle sleeve pipes；112- forearm connecting portions；114- first rotating shafts；The centres of the palm of 131- first drive
Part；First centres of the palm of 1312- crank；First centres of the palm of 1313- connecting rod；132- the second forearm actuators；1322- first gears；1324-
Second gear；The middle finger actuators of 135- the 5th；The thumb wobble drive parts of 138- the 8th；1381- thumb wobble cranks；139- drives
Unit installing board；210- centres of the palm component；211- slotted holes；213- centres of the palm plate；215- palm back boards；217- centres of the palm chamber；2112- flexible axles
Guide pad；2113- flexible axle pilot holes；2121- thumb connecting portions；2122- forefinger connecting portions；2123- middle finger connecting portions；2124-
Nameless connecting portion；2125- little finger of toe connecting portions；220- thumb components；221- the first thumb sections；223- the second thumb sections；225-
Middle finger section；227- thumb metacarpal joints；229- thumb flexible axle passages；2231- the first thumb deep-slotted chip breakers；The thumbs of 2232- first
Sliding part；2233- the second thumb deep-slotted chip breakers；The thumb slides of 2234- second；2235- thumb connecting rods；2272- thumbs swing convex
Platform；230- forefinger components；Finger assembly in 240-；The middle finger joints of 241- first；The middle finger joints of 242- second；The middle finger joints of 243- the 3rd；
The middle finger joints of 244- the 4th；249- middle finger flexible axles；2421- the first middle finger connecting rods；2431- the second middle finger connecting rods；The middle fingers of 2432- first
Deep-slotted chip breaker；2433- the second middle finger deep-slotted chip breakers；The unknown finger assemblies of 250-；The small finger assemblies of 260-.
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with this practicality
Accompanying drawing in new embodiment, the technical scheme in the utility model embodiment is clearly and completely described, shown
So, described embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on this practicality
Embodiment in new, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of the utility model protection.Therefore, the implementation of the present utility model to providing in the accompanying drawings below
The detailed description of mode is not intended to limit claimed the scope of the utility model, but is merely representative of of the present utility model
Selected embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative labor
The every other embodiment obtained under the premise of dynamic, belong to the scope of the utility model protection.
In description of the present utility model, it is to be understood that the term of indicating position or position relationship is based on accompanying drawing
Shown orientation or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicates or imply institute
The equipment or element of finger must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this reality
With new limitation.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be
Mechanically connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be two
The connection of element internal or the interaction relationship of two elements.For the ordinary skill in the art, can basis
Concrete condition understands concrete meaning of the above-mentioned term in the utility model.
In the utility model, unless otherwise clearly defined and limited, fisrt feature is on or below second feature
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature the
Directly over two features and oblique upper, or be merely representative of fisrt feature level height and be higher than second feature.Fisrt feature is special second
Under sign, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or are merely representative of fisrt feature level
Highly it is less than second feature.
Embodiment：
A kind of bionic mechanical arm 001 is present embodiments provided, refers to Fig. 1, Fig. 2 and Fig. 3, this bionic mechanical arm
001 includes forearm component 100 and palm component 200.Palm component 200 includes centre of the palm component 210, thumb component 220, forefinger group
Part 230, middle finger assembly 240, unknown finger assembly 250 and small finger assembly 260.Described one end of forearm component 100 and the centre of the palm group
Part 210 is rotatable to be connected, rotor shaft direction and place plane the prolonging parallel and perpendicular to forearm component 100 of centre of the palm component 210
Stretch direction.On the centre of the palm component 210 it is corresponding with the five fingers opening position of people correspondingly with thumb component 220, forefinger component 230,
Middle finger assembly 240, unknown finger assembly 250 are connected with small finger assembly 260.
First, forearm component 100
Fig. 4 and Fig. 5 is referred to, forearm component 100 includes forearm framework 110, drive component 130, wrist assembly 150.
The one end of forearm framework 110 is rotationally connected with wrist assembly 150, the other end of forearm framework 110 and the phase of centre of the palm component 210
Even, drive component 130 is connected on forearm framework 110 and with forearm framework 110.
What above-mentioned annexation was specifically realized in：
The one end of forearm framework 110 is provided with forearm connecting portion 112, and forearm connecting portion 112 is provided with the first connecting hole, centre of the palm group
Part 210 is provided with the second connecting hole corresponding with the first connecting hole, and first rotating shaft 114 sequentially passes through the first connecting hole and second and connected
Hole is connect to realize that forearm framework 110 is connected with the rotatable of centre of the palm component 210.The direction of first rotating shaft 114 is perpendicular to forearm frame
The bearing of trend of frame 110, and it is parallel with the plane where centre of the palm component 210.
Centre of the palm component 210 is connected with drive component 130.Drive component 130 includes the first centre of the palm actuator 131, first palm
One end of heart actuator 131 and the first centre of the palm crank 1312 is hinged, and the other end of the first centre of the palm crank 1312 and first centre of the palm connect
One end of bar 1313 is hinged, and the other end of the first centre of the palm connecting rod 1313 and one on centre of the palm component 210 are point articulated.First centre of the palm connects
Bar 1313 is vertical with first rotating shaft 114 so that centre of the palm component 210 can rotate around the length direction of first rotating shaft 114.
The other end of forearm framework 110 is provided with the 3rd connecting hole, and wrist assembly 150 is provided with the 4th connecting hole, second turn
Axle sequentially passes through the 3rd connecting hole and the 4th connecting hole to realize that forearm framework 110 is connected with the rotatable of wrist assembly 150.
The bearing of trend for being oriented parallel to forearm framework 110 of second rotating shaft.Wrist assembly 150 is used for and emulation large arm or other dresses
Put and be fixedly linked.
Drive component 130 includes the second forearm actuator 132, the output shaft and first gear of the second forearm actuator 132
1322 are connected, and first gear 1322 is engaged with second gear 1324, and rotating shaft and the wrist assembly 150 of second gear 1324 are fixed
It is connected.
When the second forearm 132 output torque of actuator, the torque will pass through first gear 1322 and second gear 1324
Transmission make wrist assembly 150 produce rotation trend.Again because wrist assembly 150 and remaining device are fixedly linked, therefore should
Forearm component 100 is will act in the acting in opposition of torque, is that forearm component 100 produces rotation, so as to simulate the forearm of people
Rotate.
Also include middle finger in addition to the first centre of the palm actuator 131, the second forearm actuator 132, in drive component 130 to drive
Moving part, the 4th forefinger actuator, the 5th middle finger actuator 135, the 6th nameless actuator, the 7th little finger of toe actuator and the 8th thumb
Refer to wobble drive part 138.
The installing plate of drive component 130 is provided with forearm framework 110, it is logical that the installing plate of drive component 130 is provided with multiple installations
Hole, each actuator are respectively arranged in each installation through-hole, to realize the fixation of each actuator.Wherein, middle finger actuator,
Four forefinger actuators, the 5th middle finger actuator 135, the 6th nameless actuator, the 7th little finger of toe actuator and the 8th thumb are swung
The output direction of principal axis of actuator 138 is consistent, and is each perpendicular to centre of the palm direction and is extended to the back of the hand side.
Middle finger actuator, the 4th forefinger actuator, the 5th middle finger actuator 135, the 6th nameless actuator it is defeated
Shaft is connected with corresponding crank respectively.Crank connects each corresponding finger by flexible axle, so as to realize the activity of finger.
Multiple flexible axle sleeve pipes 170 are additionally provided with forearm component 100, flexible axle connects each finger by flexible axle sleeve pipe 170.
2nd, thumb component 220
Fig. 6 and Fig. 7 is referred to, the output shaft of middle finger actuator is connected with thumb crank, and thumb crank passes through thumb
Flexible axle is connected with thumb component 220.Its specific connected mode and action situation are as follows：
Thumb component 220 includes the first thumb section 221, the second thumb section 223, middle finger section 225 and thumb metacarpal joint
227.Thumb metacarpal joint 227 is rotatably connected with centre of the palm component 210, and rotation direction is basically parallel to the bearing of trend of forearm,
The one end of first thumb section 221 is fixedly connected with thumb metacarpal joint 227；The other end of first thumb section 221 and the second thumb section 223 1
End is articulated with A points, and rotation direction is basically perpendicular to the length direction of the first thumb section 221；The other end of second thumb section 223 with
Middle finger section 225 is articulated with B points, and rotation direction is basically perpendicular to the length direction of the second thumb section 223.Thumb component
220 are provided with thumb flexible axle passage 229, and thumb flexible axle passage 229 is connected with the X points on the second thumb section 223.So that thumb
Refer to flexible axle one end and be connected to thumb crank, the other end is connected to the X points on the second thumb section 223.When the first thumb drives part band
When dynamic thumb crank rotates, thumb crank pulls the X points on the second thumb section 223 by thumb flexible axle, so that the second thumb
Section 223 can rotate relative to the first thumb section 221.
Relative rotation between the thumb section 223 of middle finger section 225 and second is then realized by following structure：
Second thumb section 223 is provided with the first thumb deep-slotted chip breaker 2231 and the second thumb deep-slotted chip breaker 2233, the first thumb arc
Shape groove 2231 is located on A points, and the second thumb deep-slotted chip breaker 2233 is located on B points.The first thumb cunning is additionally provided with second thumb section 223
The thumb slide 2234 of moving part 2232 and second, the one end of the first thumb slide 2232 are fixedly connected on the first thumb section 221, the
The other end of one thumb slide 2232 slidably coordinates with the first thumb deep-slotted chip breaker 2231；The one end of second thumb slide 2234 is consolidated
Surely middle finger section 225 is connected to, the other end of the second thumb slide 2234 slidably coordinates with the second thumb deep-slotted chip breaker 2233.
It is fixedly linked between first thumb slide 2232 and the second thumb slide 2234 by thumb connecting rod 2235.
When the second thumb section 223 rotates relative to the first thumb section 221, the first thumb slide 2232 will be using A points as axle
The heart slides along the first thumb deep-slotted chip breaker 2231, so as to drive the second thumb slide 2234 along the second thumb deep-slotted chip breaker 2233 with B
Centered on slide.Again because the one end of the second thumb slide 2234 is fixedly linked with middle finger section 225, middle finger section 225
It is hinged with the second thumb section 223 at B points, therefore, cunning of second thumb slide 2234 in the second thumb deep-slotted chip breaker 2233
Dynamic process will drive middle finger section 225 to be rotated relative to the second thumb section 223.So that the second thumb section 223 and the 3rd thumb
Linkage is produced between finger joint 225.
By above structure, rotating and reverse for middle finger actuator can realize the bending of thumb respectively and stretch.
Thumb metacarpal joint 227 is provided with thumb connecting hole, the direction of thumb connecting hole and the bearing of trend of forearm component 100
It is identical.Rotating shaft realizes the first thumb section 221 and centre of the palm component 210 through thumb connecting hole and being connected with centre of the palm component 210
It is rotatedly connected.
First thumb section 221 rotates the swing that can be used for simulation mankind's thumb relative to centre of the palm component 210, and this rotation is this
What sample was realized：
The output shaft of 8th thumb wobble drive part 138 is connected with thumb wobble crank 1381.Set on thumb metacarpal joint 227
There is thumb to swing boss 2272, thumb swings flexible axle one end and is connected with thumb swing boss 2272, and thumb swings the flexible axle other end
It is connected with thumb wobble crank 1381.So that when thumb wobble crank 1381 rotates, thumb swings flexible axle and pulls the thumb palm to close
Section 227, thumb metacarpal joint 227 is set to drive whole thumb component 220 to produce swing.
Preferably, thumb swings boss 2272 on thumb metacarpal joint 227 close to the side in the centre of the palm.Thumb wobble crank
1381 thumbs connected swing flexible axle by the centre of the palm chamber 217 on centre of the palm component 210, are then connected with thumb metacarpal joint 227.
Centre of the palm plate 213 on centre of the palm component 210 is provided with slotted hole 211 at thumb component 220, is provided with slotted hole 211 and the centre of the palm
The connected flexible axle guide pad 2112 of the rotation of plate 213, flexible axle guide pad 2112 is with the rotor shaft direction that centre of the palm plate 213 rotates against with before
The bearing of trend of arm component 100 is almost parallel.Flexible axle guide pad 2112 is provided with flexible axle pilot hole 2113, flexible axle pilot hole 2113
Direction it is substantially vertical with the bearing of trend of forearm component 100.
Thumb swings flexible axle by passing through flexible axle pilot hole 2113 in the centre of the palm chamber 217 of centre of the palm component 210, reaches centre of the palm component
210 side of centre of the palm plate 213, and finally swing boss 2272 with thumb and be connected.
The setting of flexible axle guide pad 2112 and flexible axle pilot hole 2113, can avoid long flexible axle from causing to thumb component
The control of 220 swing is not accurate, can also adjust the trend that thumb near thumb component 220 swings flexible axle, so as to improve pair
The control effect of the swing process of thumb component 220.
The effect of first thumb deep-slotted chip breaker 2231 is, as the first thumb chute of the first thumb slide 2232, for the
The slip of one thumb slide 2232 determines track；The effect of second thumb deep-slotted chip breaker 2233 is, as the second thumb slide
2234 the second thumb chute, track is determined for the slip of the second thumb slide 2234.In other implementations of the present utility model
In mode, those skilled in the art can calculate according to different finger motion rules and determine the first different thumb chutes
Shape, position with the second thumb chute etc., it is not limited solely to the first thumb deep-slotted chip breaker 2231 and the second thumb deep-slotted chip breaker 2233
Identified shape and position.
3rd, middle finger assembly 240
Referring to Fig. 8, the output shaft of the 4th middle finger actuator is connected with middle finger crank, middle finger crank passes through middle finger flexible axle
249 are connected with middle finger assembly 240.Its specific connected mode and action situation are as follows：
Middle finger assembly 240 includes the first middle finger joint 241, the second middle finger joint 242, the 3rd middle finger joint 243 and the 4th middle finger joint
244.The one end of first middle finger joint 241 is fixedly linked with centre of the palm component 210, the other end of the first middle finger joint 241 and the second middle finger joint 242
One end is articulated with C points；The other end of second middle finger joint 242 and the one end of the 3rd middle finger joint 243 are articulated with D points；3rd middle finger joint 243 is another
One end is articulated with E points with the 4th middle finger joint 244.
Y points on second middle finger joint 242 are connected by middle finger flexible axle 249 with middle finger crank., will be logical when middle finger crank rotates
Cross middle finger flexible axle 249 and pulling force is produced to the Y points on the second middle finger joint 242, so that the second middle finger joint 242 is relative to the first middle finger
Section 241 rotates.
When the second middle finger joint 242 produces rotation relative to the first middle finger joint 241, the 3rd middle finger joint 243 and the 4th middle finger
Section 244 will produce linkage with the rotation of the second middle finger joint 242.What the linkage process was realized in：
Middle finger assembly 240 also includes the first middle finger connecting rod 2421 and the second middle finger connecting rod 2431.
The one end of first middle finger connecting rod 2421 is fixedly connected on the first middle finger joint 241, the other end of the first middle finger connecting rod 2421
The F points being fixedly connected on the 3rd middle finger joint 243.F points and D points are misaligned.
The first middle finger deep-slotted chip breaker 2432 and the second middle finger deep-slotted chip breaker 2433 are additionally provided with 3rd middle finger joint 243.First middle finger
Deep-slotted chip breaker 2432 is located on D points, and the second middle finger deep-slotted chip breaker 2433 is located on E points.
The one end of second middle finger connecting rod 2431 is fixedly linked by the first middle finger sliding part and the second middle finger joint 242, in first
Refer to sliding part through the first middle finger deep-slotted chip breaker 2432 and can be slided in deep-slotted chip breaker 2432 is referred in first；Second middle finger connecting rod 2431
The other end is fixedly linked by the second middle finger sliding part with the 4th middle finger joint 244, and the second middle finger sliding part passes through the second middle finger arc
Shape groove 2433 and can in second refer to deep-slotted chip breaker 2433 in slide.
When the second middle finger joint 242 rotates relative to the first middle finger joint 241, the 3rd middle finger joint 243 is connected to the second middle finger
On section 242, it will move therewith.First middle finger connecting rod 2421 is fixed close to one end of C points, and the other end of the first middle finger connecting rod 2421 will
Motion is produced with the 3rd middle finger joint 243.Again due to the tie point of the first middle finger connecting rod 2421 and the 3rd middle finger joint 243 (F points) and
The pin joint of second middle finger joint 242 and the 3rd middle finger joint 243 (D points) is misaligned, therefore is produced from the position of F points on the 3rd middle finger joint 243
After changing the 3rd middle finger joint 243 will be caused to produce rotation relative to the second middle finger joint 242.
When the 3rd middle finger joint 243 produces rotation relative to the second middle finger joint 242, be connected on the second middle finger joint 242 the
One middle finger sliding part will refer in first produces slip in deep-slotted chip breaker 2432, because the shape of the second middle finger connecting rod 2431 is solid
It is fixed, slided so the slip of the first middle finger sliding part will drive the second middle finger sliding part to refer in second in deep-slotted chip breaker 2433.The
Two middle finger sliding parts are connected to the 4th middle finger joint 244, so the slip of the second middle finger sliding part will make the 4th middle finger joint 244 relative
3rd middle finger joint 243 produces rotation.
By above structure, rotating and reverse for the 5th middle finger actuator 135 can realize the bending of middle finger respectively and stretch.
The effect of first middle finger deep-slotted chip breaker 2432 is, as the first middle finger chute of the first middle finger sliding part, in first
The slip for referring to sliding part determines track；The effect of second middle finger deep-slotted chip breaker 2433 is, in the second of the second middle finger sliding part
Refer to chute, track is determined for the slip of the second middle finger sliding part.In other embodiment of the present utility model, art technology
Personnel can calculate the shape for determining the first different middle finger chutes and the second middle finger chute according to different finger motion rules
Shape, position etc., it is not limited solely to shape and position determined by the first middle finger deep-slotted chip breaker 2432 and the second middle finger deep-slotted chip breaker 2433.
Forefinger component 230, the connected mode of unknown finger assembly 250 and small finger assembly 260 and structure and the middle class of finger assembly 240
Seemingly, will not be described here.
4th, centre of the palm component 210
Fig. 9 and Figure 10 is referred to, centre of the palm component 210 includes centre of the palm plate 213 and palm back board 215.Centre of the palm plate 213 and palm back board
215 are fixedly linked and form centre of the palm chamber 217.Each flexible axle connected on drive component 130 passes through centre of the palm chamber 217 and each finger component
It is connected.
Centre of the palm component 210 is provided with thumb connecting portion 2121, forefinger connecting portion 2122, middle finger connecting portion 2123, the third finger
Connecting portion 2124 and little finger of toe connecting portion 2125.
Thumb connecting portion 2121 is connected with the thumb metacarpal joint 227 on thumb component 220.Thumb connecting portion 2121 is provided with
Rotating shaft, rotating shaft pass through thumb connecting hole, realize the rotation connection of thumb component 220 and centre of the palm component 210.
Middle finger connecting portion 2123 is connected with the first middle finger joint 241 on middle finger assembly 240.Middle finger connecting portion 2123 is blind hole
Structure, the one end of the first middle finger joint 241 away from the second middle finger joint 242 is fixed with blind hole with merga pass screw, to realize middle finger
Component 240 is connected with centre of the palm component 210.Remaining each finger component is connected by same mode with centre of the palm component 210.
Flexible axle positioning pipe is additionally provided with each finger connecting portion on centre of the palm component 210, each flexible axle is each passed through each flexible axle
Positioning pipe is connected with each finger component, so as to avoid flexible axle is long from causing control not accurate, lifts control effect.
The beneficial effect of bionic mechanical arm 001 provided by the utility model is：Forearm component 100, palm component 200
Driven with each finger component using different actuators, it is achieved thereby that the relatively independent work of each several part component；
The 8th thumb wobble drive part 138 is additionally connected on thumb component 220 so that thumb component 220 can simulate
The thumb of the mankind, which is realized, to be swung；
By the reasonable setting that flexible axle and the link position of thumb component 220 are swung to thumb so that thumb component 220
Hunting range closing to reality；
Each finger joint on each finger component can realize linkage by the cooperation between deep-slotted chip breaker, sliding part and connecting rod, so as to
More life-like simulation human hand is clenched fist, opened, bending the action such as finger；
Bar linkage structure largely is used on bionic mechanical arm 001 provided by the utility model, has and controls accurate, response
It hurry up, the advantages of flexibility ratio is high；
Drive component 130 on bionic mechanical arm 001 provided by the utility model is all arranged at forearm component 100
In, the scheme in palm or in finger is arranged on compared to drive mechanism in the prior art, it is possible to prevente effectively from palm and finger
It is heavy, structure is numerous and jumbled, and then improve the bionical degree of bionic mechanical arm 001；
Each flexible axle on bionic mechanical arm 001 provided by the utility model is connected by centre of the palm chamber 217 with each finger, is made
The outward appearance for obtaining bionic mechanical arm 001 is more succinct.
Bionic mechanical arm 001 provided by the utility model is connected on the trunk of robot, you can have robot
The function such as there is crawl, shake hands.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for
For those skilled in the art, the utility model can have various modifications and variations.It is all in spirit of the present utility model and former
Within then, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (10)
1. a kind of forearm component, for being connected with palm component, it is characterised in that closed including forearm framework, drive component and elbow
Save component；
Described forearm framework one end is connected with the wrist assembly by the second axis of rotation, and the direction of second rotating shaft
It is consistent with the length direction of the forearm framework；
The drive component includes forearm actuator, and the output shaft of the forearm actuator is connected with first gear, and described first
Gear engages with second gear, and the second gear is connected with second rotating shaft.
2. forearm component according to claim 1, it is characterised in that the forearm framework is provided with the 3rd connecting hole, institute
State wrist assembly and be provided with the 4th connecting hole, the 3rd connecting hole and the 4th connecting hole are fitted with second rotating shaft
Match somebody with somebody.
3. forearm component according to claim 1, it is characterised in that the forearm framework is installed provided with drive component
Plate, the drive component installing plate are provided with multiple installation through-holes, and drive component is adapted to multiple installation through-holes.
4. forearm component according to claim 1, it is characterised in that the forearm component also includes flexible axle and flexible shaft protecting
Pipe, described flexible axle one end are connected with the drive component, and the flexible axle other end is used to be connected with the palm component, described soft
Axle passes through the flexible axle sleeve pipe.
5. a kind of robot, it is characterised in that including palm component, trunk and as described in any one in claim 1-4
Forearm component, the one end of the forearm component away from the wrist assembly and the palm member hinges, the elbow joint group
Part is connected with the trunk.
6. a kind of robot according to claim 5, it is characterised in that the drive component includes centre of the palm actuator, institute
The output shaft for stating centre of the palm actuator is connected with centre of the palm crank, and the centre of the palm crank passes through centre of the palm connecting rod and the palm component phase
Even.
7. a kind of robot according to claim 6, it is characterised in that the palm component includes centre of the palm component, middle finger
Component, the centre of the palm component are provided with middle finger connecting portion, and the middle finger connecting portion is blind hole structure, the middle finger assembly with it is described
Middle finger connecting portion is connected.
8. a kind of robot according to claim 7, it is characterised in that the middle finger assembly includes the first middle finger joint and the
Two middle finger joints, first middle finger joint are hinged with second middle finger joint, and first middle finger joint is away from second middle finger joint
One end be connected with the middle finger connecting portion.
A kind of 9. robot according to claim 8, it is characterised in that the drive component also includes middle finger actuator,
The middle finger actuator is connected by middle finger flexible axle with second middle finger joint.
10. a kind of robot according to claim 9, it is characterised in that the centre of the palm component includes centre of the palm plate and the palm is carried on the back
Plate, the centre of the palm plate and the palm back board surround centre of the palm chamber, and the middle finger flexible axle passes through the centre of the palm chamber and second middle finger
Section is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720280691.4U CN206623101U (en) | 2017-03-22 | 2017-03-22 | A kind of forearm component and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720280691.4U CN206623101U (en) | 2017-03-22 | 2017-03-22 | A kind of forearm component and robot |
Publications (1)
| Publication Number | Publication Date |
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| CN206623101U true CN206623101U (en) | 2017-11-10 |
Family
ID=60208282
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|---|---|---|---|
| CN201720280691.4U Expired - Fee Related CN206623101U (en) | 2017-03-22 | 2017-03-22 | A kind of forearm component and robot |
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| Country | Link |
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| CN (1) | CN206623101U (en) |
Cited By (2)
| 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 manipulator |
| CN113069252A (en) * | 2021-03-30 | 2021-07-06 | 合肥工业大学 | Bevel gear connecting rod configuration bionic artificial limb |
-
2017
- 2017-03-22 CN CN201720280691.4U patent/CN206623101U/en not_active Expired - Fee Related
Cited By (3)
| 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 manipulator |
| CN113069252A (en) * | 2021-03-30 | 2021-07-06 | 合肥工业大学 | Bevel gear connecting rod configuration bionic artificial limb |
| CN113069252B (en) * | 2021-03-30 | 2024-02-06 | 合肥工业大学 | Umbrella tooth connecting rod configuration bionic artificial limb |
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Granted publication date: 20171110 |