CN207309960U - Palm structure and robot - Google Patents
Palm structure and robot Download PDFInfo
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- CN207309960U CN207309960U CN201721218972.3U CN201721218972U CN207309960U CN 207309960 U CN207309960 U CN 207309960U CN 201721218972 U CN201721218972 U CN 201721218972U CN 207309960 U CN207309960 U CN 207309960U
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Abstract
The utility model provides a kind of palm structure and robot, and wherein palm structure includes：Metacarpal bone housing；It is multiple to direct at mechanism, respectively direct at mechanism and be pivotally connected with metacarpal bone housing；Synchronous drawing article, synchronous drawing article are movably disposed in metacarpal bone housing；It is multiple to direct at actuator, multiple actuators that direct at direct at mechanism one-to-one corresponding with multiple, and the first end for directing at actuator is connected with directing at mechanism, the second end for directing at actuator is connected with synchronous drawing article, so that the movement of synchronous drawing article drives multiple mechanisms that direct to realize synchronous flexure operation.The utility model solves the problems, such as that the effect that four of palm structure of the prior art direct at can not being synchronized with the movement for mechanism and cause palm structure to imitate human hand action is poor.
Description
Technical field
Robotic technology field is the utility model is related to, in particular to a kind of palm structure and robot.
Background technology
Bio-robot be can mimic biology, be engaged in biological characteristic work robot, for example, in western countries, machine
Tool pet is all the fashion, and bionical sparrow robot can serve as the task of environmental monitoring, for another example anthropomorphic robot can be people
Class provides many convenient services, and therefore, bio-robot increasingly obtains the attention of people, has good development prospect.
As robot technology constantly develops, humanoid robot constantly causes the concern and attention of people, apery machine
Device people is applied to industrial circle, medical field etc. more, and anthropomorphic robot usually has the palm for the hand motion that can simulate people
Structure, imitates the movement of human hand to realize that some clampings, carrying act and substitute the work of people.
The palm structure of existing anthropomorphic robot usually have can free bend or stretch four direct at mechanism and
The thumb mechanism of one autonomous working, the characteristics of in order to make bio-robot simulation human hand more true to nature, four direct at mechanism
It is generally necessary to reach the synchronous movement effects for bending and synchronously stretching, and existing palm structure is difficult to realize four and directs at mechanism
Movement it is synchronous, so as to cause the effect that palm structure imitates human hand action poor.
Utility model content
The main purpose of the utility model is that a kind of palm structure and robot are provided, to solve hand of the prior art
Four effects for directing at can not being synchronized with the movement for mechanism and causing palm structure to imitate human hand action of palm structure are poor to ask
Topic.
To achieve these goals, one side according to the present utility model, there is provided a kind of palm structure of robot,
Including：Metacarpal bone housing；It is multiple to direct at mechanism, respectively direct at mechanism and be pivotally connected with metacarpal bone housing；Synchronous drawing article, it is synchronous to pull
Part is movably disposed in metacarpal bone housing；Multiple to direct at actuator, multiple actuators that direct at direct at a pair of mechanism one with multiple
Should, and the first end for directing at actuator is connected with directing at mechanism, the second end for directing at actuator is connected with synchronous drawing article, so that
The movement of synchronous drawing article drives multiple mechanisms that direct to realize synchronous flexure operation.
Further, synchronous drawing article is perpendicular and moved along the length direction for directing at mechanism with directing at mechanism.
Further, multiple cable-through holes are offered on synchronous drawing article, multiple cable-through holes direct at a pair of mechanism one with multiple
It should set, the first end for directing at actuator is connected with the one end for the remote metacarpal bone housing for directing at mechanism, directs at the second of actuator
It is fastened on after holding through cable-through hole at the aperture of cable-through hole.
Further, palm structure further includes stopper posts, and stopper posts are arranged in metacarpal bone housing and positioned at synchronous drawing article
Motion path on.
Further, palm structure further includes drive division and drag-line, wherein, drive division is connected with metacarpal bone housing, drive division
The winding section being drivingly connected including driving motor and with driving motor, the first end of drag-line are connected with synchronous drawing article, drag-line
Second end is connected with winding section, so that drag-line is wrapped on winding section with the rotation of winding section.
Further, drag-line is more, the tie point edge synchronization drawing article of the first end of more drag-lines and synchronous drawing article
Length direction set at equal intervals.
Further, palm structure further includes reel, and reel is rotatably arranged in metacarpal bone housing and positioned at same
Walk between drawing article and drive division, drag-line is connected after being coiled on reel with winding section.
Further, the axis of winding section is perpendicular to the axis of reel, and palm structure further includes reversing shaft, and reversing shaft is set
Put in metacarpal bone housing and parallel to the axis of reel, drag-line after reversing shaft with winding section by being connected.
Further, palm structure further includes thumb mechanism and thumb drives part, and thumb mechanism is pivoted with metacarpal bone housing to be connected
Connect, the first end of thumb drives part is connected with thumb mechanism, and the second end of thumb drives part is coiled by reel and changed successively
It is connected after to axis with winding section.
Another aspect according to the present utility model, there is provided a kind of robot, including body structure, arm structure and palm
Structure, wherein, arm structure is connected with body structure, one end connection of the remote body structure of palm structure and arm structure,
Palm structure is above-mentioned palm structure.
Using the technical solution of the utility model, due to palm structure include synchronous drawing article and it is multiple direct at actuator,
Multiple actuators that direct at direct at mechanism one-to-one corresponding with multiple, and the first end for directing at actuator is connected with directing at mechanism, directs at drive
The second end of moving part is connected with synchronous drawing article.In this way, by controlling synchronous drawing article to be moved in metacarpal bone housing, it is synchronous to pull
Part just can pull at the same time it is multiple direct at mechanism to realize multiple synchronous flexure operations for directing at mechanism so that palm structure mould
The effect of apery hand motion is more true to nature, and robot can easily complete the clamping to object by palm structure or drive dynamic
Make, and then improve the simulated effect of robot, ensure that user satisfaction of the user to robot.
Brief description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
New schematic description and description is used to explain the utility model, does not form the improper restriction to the utility model.
In the accompanying drawings：
Fig. 1 shows a kind of partial structurtes section view signal of the palm structure of alternative embodiment according to the present utility model
Figure；
Fig. 2 shows the partial structurtes that the palm structure for directing at actuator, drag-line and thumb drives part is eliminated in Fig. 1
Schematic diagram；
Fig. 3 show the palm structure in Fig. 1 direct at mechanism and state signal when thumb mechanism is in case of bending
Figure；
Fig. 4 shows a kind of partial structural diagram of the finger mechanism of alternative embodiment according to the present utility model.
Wherein, above-mentioned attached drawing is marked including the following drawings：
1st, finger mechanism；10th, distal phalanx portion；11st, distal phalanx shell；12nd, installation cavity；20th, middle phalanx portion；21、
Middle phalanx shell；30th, proximal phalanx portion；31st, proximal phalanx shell；50th, fixing piece；60th, it is oriented to abrasionproof part；61st, endoporus；
70th, drive-connecting shaft；80th, reduction torsion spring；100th, metacarpal bone housing；200th, mechanism is directed at；300th, synchronous drawing article；310th, cable-through hole；
400th, actuator is directed at；500th, stopper posts；600th, drive division；610th, motor is driven；700th, drag-line；800th, reel；900th, change
To axis；1000th, thumb mechanism；1100th, thumb drives part；1200th, electric machine support.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.The description only actually at least one exemplary embodiment is illustrative to be never used as to this practicality below
New and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, shall fall within the protection scope of the present invention.
Direct at can not being synchronized with the movement for mechanism in order to solve four of palm structure of the prior art and cause palm knot
The problem of effect of structure imitation human hand action is poor, the utility model provides a kind of palm structure and robot, wherein, machine
Device people includes body structure, arm structure and palm structure, and arm structure is connected with body structure, palm structure and arm structure
Remote body structure one end connection, palm structure is above-mentioned and following palm structure.
As shown in Figure 1 to Figure 3, the palm structure of robot includes metacarpal bone housing 100, multiple direct at mechanism 200, synchronous draws
Moving part 300 and it is multiple direct at actuator 400, respectively direct at mechanism 200 and be pivotally connected with metacarpal bone housing 100, synchronous drawing article 300
It is movably disposed in metacarpal bone housing 100, multiple actuators 400 that direct at are corresponded with multiple mechanisms 200 that direct at, and are directed at
The first end of actuator 400 is connected with directing at mechanism 200, and the second end for directing at actuator 400 is connected with synchronous drawing article 300,
So that the movement of synchronous drawing article 300 drives multiple mechanisms 200 that direct to realize synchronous flexure operation.
Due to palm structure include synchronous drawing article 300 and it is multiple direct at actuator 400, it is multiple direct at actuator 400 with
Multiple mechanisms 200 that direct at correspond, and the first end for directing at actuator 400 is connected with directing at mechanism 200, directs at actuator 400
Second end connected with synchronous drawing article 300.In this way, by controlling synchronous drawing article 300 to be moved in metacarpal bone housing 100, together
Step drawing article 300 just can pull at the same time it is multiple direct at mechanism 200 to realize multiple synchronous flexure operations for directing at mechanism 200,
So that the effect that palm structure imitates human hand action is more true to nature, robot being capable of easily complete doublet by palm structure
The clamping of body or drive actions, and then the simulated effect of robot is improved, it ensure that user satisfaction of the user to robot.
Alternatively, synchronous drawing article 300 is in rod-shaped.Actuator 400 is directed at as driving bracing wire.
It should be noted that as shown in Fig. 2, the palm structure of the application includes multiple finger mechanisms 1, multiple finger mechanisms
1 includes a thumb mechanism 1000, remaining finger mechanism 1 is to direct at mechanism 200.Specifically, mechanism 200 is directed at as four
A, in this way, thumb mechanism 1000 simulates the thumb of people, four direct at forefinger, middle finger, the third finger that people simulates respectively in mechanism 200
And little finger of toe.
In the diagram embodiment of the application, synchronous drawing article 300 and to direct at mechanism 200 perpendicular and along directing at mechanism
200 length direction movement.This specific embodiment synchronous drawing article 300 of being more convenient for drives that multiple to direct at mechanism 200 same
Step movement.Specifically, as shown in 1 and Fig. 2, metacarpal bone housing 100 includes shell and multiple correspondingly with multiple finger mechanisms 1
Protrusion, the outside wall surface connection of multiple protrusions and shell, wherein, one in multiple protrusions as with thumb mechanism 1000
The thumb protrusion connection structure being pivotally connected, remaining protrusion are tied as with multiple protrusion connections that direct at for directing at mechanism 200
Structure, and multiple link of boards for directing at protrusion connection structure with the side of shell；Shell has cavity, synchronous drawing article 300
It is within the cavity, when it is multiple direct at mechanism 200 and be in straight configuration when, synchronous drawing article 300 and being connected with for shell are multiple straight
The internal face for referring to the gusset of protrusion connection structure abuts, when synchronous drawing article 300 is remote more along the length direction for directing at mechanism 200
It is a direct at protrusion connection structure movement when, synchronous drawing article 300 drives multiple mechanisms 200 that direct to bend.
Specifically, as shown in Figure 1, offering multiple cable-through holes 310 on synchronous drawing article 300, multiple cable-through holes 310 with it is more
A mechanism 200 that directs at corresponds setting, directs at the first end of actuator 400 and directs at the remote metacarpal bone housing 100 of mechanism 200
One end connection, direct at actuator 400 second end pass through cable-through hole 310 after be fastened at the aperture of cable-through hole 310.In this way,
It ensure that the connective stability directed between actuator 400 and synchronous drawing article 300.
As depicted in figs. 1 and 2, excess is bent in order to avoid directing at 400 hyperkinesia of actuator and causing to direct at mechanism 200
Stress is caused to be damaged, palm structure further includes stopper posts 500, and stopper posts 500 are arranged in metacarpal bone housing 100 and are drawn positioned at synchronous
On the motion path of moving part 300.
As depicted in figs. 1 and 2, in order to ensure the backstop limit effect to synchronous drawing article 300, stopper posts 500 be it is multiple,
Multiple stopper posts 500 are arranged at intervals along the length direction of synchronous drawing article 300.And each stopper posts 500 are with being connected with multiple direct at
It is equal to protrude the distance between the gusset of connection structure.
As shown in Figure 1 to Figure 3, palm structure further includes drive division 600 and drag-line 700, wherein, drive division 600 and metacarpal bone
Housing 100 connects, and drive division 600 includes driving motor 610 and the winding section being drivingly connected with driving motor 610, drag-line 700
First end is connected with synchronous drawing article 300, and the second end of drag-line 700 is connected with winding section, so that drag-line 700 turns with winding section
It is dynamic to be wrapped on winding section.In this way, just can be realized by the cooperation of drive division 600 and drag-line 700 mechanism 200 is directed to multiple
Automated control, be effectively saved manpower, improved the intelligence degree of robot.
As shown in Figure 1, drag-line 700 is more, the tie point edge of the first end of more drag-lines 700 and synchronous drawing article 300
The length direction of synchronous drawing article 300 is set at equal intervals.In this way, the driving work of motor 610 drives winding section to rotate, winding section
More drag-lines 700 can be constantly coiled on winding section by rotation, so that more drag-lines 700 form on synchronous drawing article 300
Multiple pulling force points, the pulling force for the more drag-lines 700 that synchronous drawing article 300 is subject to just are capable of the length direction of synchronous drawing article 300
It is uniformly distributed, so that synchronous drawing article 300 ensures during the motion all the time perpendicular to the length direction for directing at mechanism 200
It is multiple to direct at the stably synchronous bending of mechanisms 200.
As depicted in figs. 1 and 2, in order to easily the knob power that exports of motor 610 will be driven successfully to be converted into drag-line 700
On straight pull, palm structure further includes reel 800, and reel 800 is rotatably arranged in metacarpal bone housing 100 and position
Between synchronous drawing article 300 and drive division 600, drag-line 700 is connected after being coiled on reel 800 with winding section.
Specifically, for the axis of winding section perpendicular to the axis of reel 800, palm structure further includes reversing shaft 900, commutates
Axis 900 is arranged in metacarpal bone housing 100 and parallel to the axis of reel 800, drag-line 700 by after reversing shaft 900 with coiling
Portion connects.The setting of reversing shaft 900 directs at 400 He of actuator easy to change be wrapped on reel 800 and winding section multiple
1100 winding direction of thumb drives part, so that the transmission beneficial to 600 power output of drive division.
Alternatively, thumb drives part 1100 is driving bracing wire.
It should be noted that palm structure further includes thumb mechanism 1000 and thumb drives part 1100, thumb mechanism 1000
It is pivotally connected with metacarpal bone housing 100, the first end of thumb drives part 1100 is connected with thumb mechanism 1000, thumb drives part 1100
Second end coil be connected after reel 800 and reversing shaft 900 with winding section successively.The band in this way, driving motor 610 works
Dynamic winding section rotates, and just can pull thumb drives part 1100, so that thumb drives part 1100 drives thumb mechanism 1000 curved
It is bent.
As depicted in figs. 1 and 2, palm structure further includes electric machine support 1200, and driving motor 610 passes through electric machine support 1200
It is connected with metacarpal bone housing 100, reversing shaft 900 is arranged between the top plate and bottom plate of electric machine support 1200.
It should be noted that palm structure silica gel crust, silica gel crust is set in metacarpal bone housing 100, multiple directs at mechanism
200 and thumb mechanism 1000 outside so that palm structure have simulation human hand true to nature bionical effect.
As shown in figure 4, palm structure includes multiple finger mechanisms 1, each finger mechanism 1 is pivoted with metacarpal bone housing 100 to be connected
Connect, and the junction of each finger mechanism 1 and metacarpal bone housing 100 is provided with a reduction torsion spring 80.
It should be noted that multiple finger mechanisms 1 include a thumb mechanism 1000, remaining finger mechanism 1 is
Direct at mechanism 200.Specifically, mechanism 200 is directed at as four, in this way, thumb mechanism 1000 simulates the thumb of people, four direct at machine
Structure 200 simulates forefinger, middle finger, the third finger and the little finger of toe of people respectively.Palm structure includes multiple actuators, and multiple actuators include
Direct at actuator 400 and thumb drives part 1100.
As shown in figure 4, finger mechanism 1 includes sequentially connected distal phalanx portion 10, middle phalanx portion 20 and proximal phalanx
Portion 30, is pivotably connected between three, the first end of actuator is connected with distal phalanx portion 10, the second end of actuator two-by-two
Extend to the direction in proximal phalanx portion 30 and be used as operation drive end to drive distal phalanx portion 10 and middle phalanx portion 20 successively
Rotate and simulate the digital flexion action of people.
By operating actuator, actuator direct pull distal phalanx portion 10 moves, so that dynamic distal phalanx portion 10 is suitable
Secondary drive middle phalanx portion 20 and proximal phalanx portion 30 move pivotally, and finger mechanism 1 is more realistically simulated the curved of finger
Song action, the mating reaction of multiple finger mechanisms 1, makes the palm structure of robot be provided with the work work(such as the grasping to object
Energy, improves the simulated effect of robot, since the structural member of the finger mechanism 1 of the application is few, the connection between each structural member
Relation is simple, and the finger mechanism 1 of this structure type not only greatly reduces processing and manufacturing cost, but also can reliably protect
Relative motion is stablized between demonstrate,proving each structural member, avoids finger mechanism 1 from movement failure occur, so as to improve the running of palm structure
Reliability, ensure that the simulated effect of robot.
As shown in figure 4, distal phalanx portion 10 includes distal phalanx shell 11；Middle phalanx portion 20 includes middle phalanx shell
21；Proximal phalanx portion 30 includes proximal phalanx shell 31；Distal phalanx shell 11, middle phalanx shell 21 and proximal phalanx shell
31 are pivotably connected and surround installation cavity 12 jointly two-by-two, and actuator is at least partially disposed in installation cavity 12.In this way, drive
Moving part can not only stably pull distal phalanx shell 11 and middle phalanx shell 21 to rotate successively to realize finger mechanism 1
Bending, actuator, which is at least partially disposed on to also avoid in installation cavity 12, is subject to motion artifacts, so as to ensure that finger mechanism 1
The stability of action.
Alternatively, actuator is one kind in nylon wire, carbon line, wire, ceramic thread and polyethylene setline.It is above-mentioned
The actuator of several materials is respectively provided with very strong toughness, and the property of can adapt to deform with the deformation of finger mechanism 1.
As shown in figure 4, in order to ensure the connective stability between actuator and distal phalanx shell 11, finger mechanism 1 is also
Including fixing piece 50, fixing piece 50 is arranged on one end of the remote proximal phalanx shell 31 of distal phalanx shell 11, actuator
First end is connected by fixing piece 50 with distal phalanx shell 11.
It should be noted that middle phalanx portion 20 further includes the first support plate, the first support plate is arranged on outside middle phalanx
In shell 21, the first guiding cable-through hole is offered in the first support plate；Proximal phalanx portion 30 further includes the second support plate, the second support
Plate is arranged in proximal phalanx shell 31, and the second guiding cable-through hole is offered in the second support plate；Actuator sequentially passes through driving
The second end of part sequentially passes through the first guiding cable-through hole and second and is oriented to cable-through hole.In this way, the first guiding cable-through hole and second is led
Effective position-limiting action is played to actuator to cable-through hole, other motion structure portions for avoiding actuator from being subject in installation cavity 12
The interference of part, ensure that the reliability that finger mechanism 1 moves.
As shown in figure 4, finger mechanism 1, which further includes, is oriented to abrasionproof part 60, guiding abrasionproof part 60 has to be passed through for actuator
Endoporus 61, be both provided with one at the first guiding cable-through hole and the second guiding cable-through hole and be oriented to abrasionproof part 60.In this way, effectively
Avoid the situation that actuator is worn to occur, extend the service life of actuator, ensure that finger mechanism 1 moves reliable
Property.
Alternatively, fixing piece 50 and/or guiding abrasionproof part 60 are copper corn structure.
It should be noted that in order to ensure that finger mechanism 1 is stably bent and simulation people true to nature to a direction all the time
Digital flexion action, fixing piece 50, first be oriented to cable-through hole and second be oriented to cable-through hole between the line of centres and finger machine
The axis parallel and interval setting of structure 1.
As shown in figure 4, finger mechanism 1 further includes drive-connecting shaft 70 and reduction torsion spring 80, drive-connecting shaft 70 is multiple, resetting spring
It is set on drive-connecting shaft 70, wherein, distal phalanx shell 11 and middle phalanx shell 21 are connected by a drive-connecting shaft 70, with pivot
Two torsion ends of the corresponding reduction torsion spring 80 of spindle 70 internal face and middle phalanx shell with distal phalanx shell 11 respectively
21 internal face abuts；Middle phalanx shell 21 and proximal phalanx shell 31 are connected by another drive-connecting shaft 70, with drive-connecting shaft
Two torsion ends of 70 corresponding reduction torsion springs 80 respectively with the internal face of middle phalanx shell 21 and proximal phalanx shell 31
Internal face abuts.The finger mechanism 1 that is arranged to of reduction torsion spring 80 is returned to straight configuration and provides return action power, works as actuator
Operation drive end when not stressing, finger mechanism 1 is in straight configuration under the return action power of reduction torsion spring 80.
Direct at can not being synchronized with the movement for mechanism in order to solve four of palm structure of the prior art and cause palm knot
The problem of effect of structure imitation human hand action is poor, the utility model provides a kind of palm structure and robot, wherein, machine
Device people includes body structure, arm structure and palm structure, and arm structure is connected with body structure, palm structure and arm structure
Remote body structure one end connection, palm structure is above-mentioned and following palm structure.
As shown in Figure 1 to Figure 3, the palm structure of robot includes metacarpal bone housing 100, multiple direct at mechanism 200, synchronous draws
Moving part 300 and it is multiple direct at actuator 400, respectively direct at mechanism 200 and be pivotally connected with metacarpal bone housing 100, synchronous drawing article 300
It is movably disposed in metacarpal bone housing 100, multiple actuators 400 that direct at are corresponded with multiple mechanisms 200 that direct at, and are directed at
The first end of actuator 400 is connected with directing at mechanism 200, and the second end for directing at actuator 400 is connected with synchronous drawing article 300,
So that the movement of synchronous drawing article 300 drives multiple mechanisms 200 that direct to realize synchronous flexure operation.
Due to palm structure include synchronous drawing article 300 and it is multiple direct at actuator 400, it is multiple direct at actuator 400 with
Multiple mechanisms 200 that direct at correspond, and the first end for directing at actuator 400 is connected with directing at mechanism 200, directs at actuator 400
Second end connected with synchronous drawing article 300.In this way, by controlling synchronous drawing article 300 to be moved in metacarpal bone housing 100, together
Step drawing article 300 just can pull at the same time it is multiple direct at mechanism 200 to realize multiple synchronous flexure operations for directing at mechanism 200,
So that the effect that palm structure imitates human hand action is more true to nature, robot being capable of easily complete doublet by palm structure
The clamping of body or drive actions, and then the simulated effect of robot is improved, it ensure that user satisfaction of the user to robot.
It should be noted that as shown in Fig. 2, the palm structure of the application includes multiple finger mechanisms 1, multiple finger mechanisms
1 includes a thumb mechanism 1000, remaining finger mechanism 1 is to direct at mechanism 200.Specifically, mechanism 200 is directed at as four
A, in this way, thumb mechanism 1000 simulates the thumb of people, four direct at forefinger, middle finger, the third finger that people simulates respectively in mechanism 200
And little finger of toe.
In the diagram embodiment of the application, synchronous drawing article 300 and to direct at mechanism 200 perpendicular and along directing at mechanism
200 length direction movement.This specific embodiment synchronous drawing article 300 of being more convenient for drives that multiple to direct at mechanism 200 same
Step movement.Specifically, as shown in 1 and Fig. 2, metacarpal bone housing 100 includes shell and multiple correspondingly with multiple finger mechanisms 1
Protrusion, the outside wall surface connection of multiple protrusions and shell, wherein, one in multiple protrusions as with thumb mechanism 1000
The thumb protrusion connection structure being pivotally connected, remaining protrusion are tied as with multiple protrusion connections that direct at for directing at mechanism 200
Structure, and multiple link of boards for directing at protrusion connection structure with the side of shell；Shell has cavity, synchronous drawing article 300
It is within the cavity, when it is multiple direct at mechanism 200 and be in straight configuration when, synchronous drawing article 300 and being connected with for shell are multiple straight
The internal face for referring to the gusset of protrusion connection structure abuts, when synchronous drawing article 300 is remote more along the length direction for directing at mechanism 200
It is a direct at protrusion connection structure movement when, synchronous drawing article 300 drives multiple mechanisms 200 that direct to bend.
Specifically, as shown in Figure 1, offering multiple cable-through holes 310 on synchronous drawing article 300, multiple cable-through holes 310 with it is more
A mechanism 200 that directs at corresponds setting, directs at the first end of actuator 400 and directs at the remote metacarpal bone housing 100 of mechanism 200
One end connection, direct at actuator 400 second end pass through cable-through hole 310 after be fastened at the aperture of cable-through hole 310.In this way,
It ensure that the connective stability directed between actuator 400 and synchronous drawing article 300.
As depicted in figs. 1 and 2, excess is bent in order to avoid directing at 400 hyperkinesia of actuator and causing to direct at mechanism 200
Stress is caused to be damaged, palm structure further includes stopper posts 500, and stopper posts 500 are arranged in metacarpal bone housing 100 and are drawn positioned at synchronous
On the motion path of moving part 300.
As depicted in figs. 1 and 2, in order to ensure the backstop limit effect to synchronous drawing article 300, stopper posts 500 be it is multiple,
Multiple stopper posts 500 are arranged at intervals along the length direction of synchronous drawing article 300.And each stopper posts 500 are with being connected with multiple direct at
It is equal to protrude the distance between the gusset of connection structure.
As shown in Figure 1 to Figure 3, palm structure further includes drive division 600 and drag-line 700, wherein, drive division 600 and metacarpal bone
Housing 100 connects, and drive division 600 includes driving motor 610 and the winding section being drivingly connected with driving motor 610, drag-line 700
First end is connected with synchronous drawing article 300, and the second end of drag-line 700 is connected with winding section, so that drag-line 700 turns with winding section
It is dynamic to be wrapped on winding section.In this way, just can be realized by the cooperation of drive division 600 and drag-line 700 mechanism 200 is directed to multiple
Automated control, be effectively saved manpower, improved the intelligence degree of robot.
As shown in Figure 1, drag-line 700 is more, the tie point edge of the first end of more drag-lines 700 and synchronous drawing article 300
The length direction of synchronous drawing article 300 is set at equal intervals.In this way, the driving work of motor 610 drives winding section to rotate, winding section
More drag-lines 700 can be constantly coiled on winding section by rotation, so that more drag-lines 700 form on synchronous drawing article 300
Multiple pulling force points, the pulling force for the more drag-lines 700 that synchronous drawing article 300 is subject to just are capable of the length direction of synchronous drawing article 300
It is uniformly distributed, so that synchronous drawing article 300 ensures during the motion all the time perpendicular to the length direction for directing at mechanism 200
It is multiple to direct at the stably synchronous bending of mechanisms 200.
As depicted in figs. 1 and 2, in order to easily the knob power that exports of motor 610 will be driven successfully to be converted into drag-line 700
On straight pull, palm structure further includes reel 800, and reel 800 is rotatably arranged in metacarpal bone housing 100 and position
Between synchronous drawing article 300 and drive division 600, drag-line 700 is connected after being coiled on reel 800 with winding section.
Specifically, for the axis of winding section perpendicular to the axis of reel 800, palm structure further includes reversing shaft 900, commutates
Axis 900 is arranged in metacarpal bone housing 100 and parallel to the axis of reel 800, drag-line 700 by after reversing shaft 900 with coiling
Portion connects.The setting of reversing shaft 900 directs at 400 He of actuator easy to change be wrapped on reel 800 and winding section multiple
1100 winding direction of thumb drives part, so that the transmission beneficial to 600 power output of drive division.
It should be noted that palm structure further includes thumb mechanism 1000 and thumb drives part 1100, thumb mechanism 1000
It is pivotally connected with metacarpal bone housing 100, the first end of thumb drives part 1100 is connected with thumb mechanism 1000, thumb drives part 1100
Second end coil be connected after reel 800 and reversing shaft 900 with winding section successively.The band in this way, driving motor 610 works
Dynamic winding section rotates, and just can pull thumb drives part 1100, so that thumb drives part 1100 drives thumb mechanism 1000 curved
It is bent.
As depicted in figs. 1 and 2, palm structure further includes electric machine support 1200, and driving motor 610 passes through electric machine support 1200
It is connected with metacarpal bone housing 100, reversing shaft 900 is arranged between the top plate and bottom plate of electric machine support 1200.
It should be noted that palm structure silica gel crust, silica gel crust is set in metacarpal bone housing 100, multiple directs at mechanism
200 and thumb mechanism 1000 outside so that palm structure have simulation human hand true to nature bionical effect.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.At the same time, it should be appreciated that each shown in attached drawing for the ease of description
The size of a part is not to be drawn according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as awarding
Weigh part for specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar
Label and letter similar terms is represented in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
It need not be further discussed in attached drawing afterwards.
In the description of the utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal,
Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or position relationship be normally based on orientation or position shown in the drawings
Relation is put, description the utility model is for only for ease of and simplifies description, in the case where not making conversely explanation, these nouns of locality
Do not indicate that and imply that the device of meaning or element there must be specific orientation or with specific azimuth configuration and operation, because
This is it is not intended that limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel relative to each component in itself
Wide is inside and outside.
For the ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Furthermore, it is necessary to explanation, limits parts, it is only for be easy to using the word such as " first ", " second "
Corresponding parts to be distinguished, do not have Stated otherwise such as, above-mentioned word does not have particular meaning, therefore it is not intended that to this
The limitation of utility model protection scope.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, work, device, component and/or combinations thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so that presently filed embodiment described herein can be with except illustrating herein
Or the order beyond those of description is implemented.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on, should be included within the scope of protection of this utility model.
Claims (10)
- A kind of 1. palm structure of robot, it is characterised in that including：Metacarpal bone housing (100)；It is multiple to direct at mechanism (200), it is each described to direct at mechanism (200) and be pivotally connected with the metacarpal bone housing (100)；Synchronous drawing article (300), the synchronization drawing article (300) are movably disposed in the metacarpal bone housing (100)；It is multiple to direct at actuator (400), it is multiple described to direct at actuator (400) and multiple described to direct at mechanism (200) one a pair of Should, and the first end for directing at actuator (400) is connected with the mechanism (200) that directs at, the actuator (400) that directs at Second end is connected with the synchronous drawing article (300), so as to be directed at described in the movement drive of the synchronization drawing article (300) is multiple Mechanism (200) realizes synchronous flexure operation.
- 2. palm structure according to claim 1, it is characterised in that the synchronization drawing article (300) directs at machine with described Structure (200) is perpendicular and is moved along the length direction for directing at mechanism (200).
- 3. palm structure according to claim 1, it is characterised in that offered on the synchronization drawing article (300) multiple Cable-through hole (310), multiple cable-through holes (310) correspond setting with multiple mechanisms (200) that direct at, described to direct at drive The first end of moving part (400) is connected with one end of the remote metacarpal bone housing (100) for directing at mechanism (200), described straight The second end of finger actuator (400) is fastened at the aperture of the cable-through hole (310) after passing through the cable-through hole (310).
- 4. palm structure according to claim 1, it is characterised in that the palm structure further includes stopper posts (500), institute Stopper posts (500) are stated to be arranged in the metacarpal bone housing (100) and on the motion path of the synchronous drawing article (300).
- 5. palm structure according to claim 1, it is characterised in that the palm structure further include drive division (600) and Drag-line (700), wherein, the drive division (600) is connected with the metacarpal bone housing (100), and the drive division (600) includes driving Motor (610) and the winding section being drivingly connected with the driving motor (610), the first end of the drag-line (700) with it is described same Drawing article (300) connection is walked, the second end of the drag-line (700) is connected with the winding section, so that the drag-line (700) is with institute The rotation for stating winding section is wrapped on the winding section.
- 6. palm structure according to claim 5, it is characterised in that the drag-line (700) is more, the more drag-lines (700) first end is with the tie point of the synchronous drawing article (300) along between length direction of the synchronous drawing article (300) etc. Every setting.
- 7. palm structure according to claim 5, it is characterised in that the palm structure further includes reel (800), institute Reel (800) is stated to be rotatably arranged in the metacarpal bone housing (100) and positioned at the synchronous drawing article (300) and described Between drive division (600), the drag-line (700) is connected after being coiled on the reel (800) with the winding section.
- 8. palm structure according to claim 7, it is characterised in that the axis of the winding section is perpendicular to the reel (800) axis, the palm structure further include reversing shaft (900), and the reversing shaft (900) is arranged on the metacarpal bone housing (100) in and parallel to the axis of the reel (800), the drag-line (700) by the reversing shaft (900) afterwards with it is described Winding section connects.
- 9. palm structure according to claim 8, it is characterised in that the palm structure further includes thumb mechanism (1000) With thumb drives part (1100), the thumb mechanism (1000) is pivotally connected with the metacarpal bone housing (100), the thumb drives The first end of part (1100) is connected with the thumb mechanism (1000), and the second end of the thumb drives part (1100) is coiled successively It is connected after the reel (800) and the reversing shaft (900) with the winding section.
- A kind of 10. robot, it is characterised in that including body structure, arm structure and palm structure, wherein, the arm knot Structure is connected with the body structure, and the palm structure is connected with one end of the remote body structure of the arm structure, The palm structure is the palm structure of any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721218972.3U CN207309960U (en) | 2017-09-21 | 2017-09-21 | Palm structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721218972.3U CN207309960U (en) | 2017-09-21 | 2017-09-21 | Palm structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207309960U true CN207309960U (en) | 2018-05-04 |
Family
ID=62383606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721218972.3U Expired - Fee Related CN207309960U (en) | 2017-09-21 | 2017-09-21 | Palm structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207309960U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900650A (en) * | 2019-11-08 | 2020-03-24 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN113442159A (en) * | 2021-06-30 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Robot tail end execution gripper based on rope driving |
-
2017
- 2017-09-21 CN CN201721218972.3U patent/CN207309960U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900650A (en) * | 2019-11-08 | 2020-03-24 | 哈尔滨工业大学（深圳） | Rope-driven flexible claw and robot |
| CN113442159A (en) * | 2021-06-30 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Robot tail end execution gripper based on rope driving |
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