CN207480629U - The mechanical finger that a kind of hydraulic pressure steel wire pulls - Google Patents
The mechanical finger that a kind of hydraulic pressure steel wire pulls Download PDFInfo
- Publication number
- CN207480629U CN207480629U CN201721309966.9U CN201721309966U CN207480629U CN 207480629 U CN207480629 U CN 207480629U CN 201721309966 U CN201721309966 U CN 201721309966U CN 207480629 U CN207480629 U CN 207480629U
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- China
- Prior art keywords
- knuckle
- steel wire
- finger
- steel
- hydraulic pressure
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Abstract
The utility model provides the mechanical finger that a kind of hydraulic pressure steel wire pulls, which includes：First knuckle, second knuckle, third knuckle, third knuckle stent, finger main support, digital flexion steel wire, steel wire connecting rod, finger resets steel wire and spring hydraulic etc., and the utility model sets the coefficient of elasticity of each finger joint spring to be sequentially increased according to the characteristics of human hand grip.The utility model is to realize that manipulator has larger grip, steel wire is pulled to realize by hydraulic pressure, and finger is bent and stretched only with a hydraulic pressure in the utility model, and two steel wires, finger bent and stretched using lever principle；Under usual state, hydraulic pressure is in centre position so that it is identical with human hand relaxation state that mechanical finger is in relaxation state；The utility model hydraulic part is all disposed within the back of the hand position.The mechanical finger and manipulator of the utility model have the features such as simple in structure, adaptive faculty is strong, and finger is flexible, and manipulator grip is big.
Description
Technical field
The utility model relates to mechanical mechanism field；More particularly to the mechanical finger that a kind of hydraulic pressure steel wire pulls, suitable for mould
The hand of human simulation, preferably to hold object.
Background technology
With development in science and technology, mechanization, automation concept deepen continuously people production, life, machinery
Hand completes a large amount of repeated works as a kind of common device on factory lines.Simulation manipulator is double as the mankind
The Counterfeit Item of hand must have high flexibility in numerous fields.But dexterity is also much not achieved in simulation manipulator
Stage, numerous reasons all limit machinery hand flexibility and manipulator crawl strength.In the development of manipulator, have
Using servo motor, although solving the problems, such as that joint is dexterous, strength is insufficient and improves cost；Some passes through control machinery
The action of hand and reduce joint, and can cause flexibility decline etc..The type of drive of joint of robot movement directly drives
With two kinds of indirect drive manner.Direct drive mode is that the output shaft of driver and the joint shaft of robot are connected directly, indirectly
Type of drive is that the power of driver is passed to joint by retarder or steel wire rope, belt, parallel rod etc..The side of directly driving
Mechanical system between the driver of formula and joint is less, it is thus possible to reduce the influence of the non-linear factors such as friction, controlling
It can be relatively good.However, on the other hand, the moment of resistance for directly driving joint is relatively too big, and the output torque of driver must be very
Greatly to overcome the moment of resistance, in addition to this, directly drive requirement and one servo motor is installed in each joint, this will lead to machine
Tool hand servo motor is excessive and manipulator shape is made to seem clumsy, and the model and size of servo motor can influence the outer of manipulator again
Shape and function.Indirect drive manner is the type of drive that most of robot is taken, this indirect, the output masterpiece of driver
At finger joint, torque generally far smaller than directly drives the torque needed for joint；The most commonly used is steel wire driving, servos at present
Motor is power part, but the usual strength of one side servo motor is insufficient, comparatively harder using Serve Motor Control
Steel wire is difficult to realize, and on the other hand this steel wire pulls finger that the strength of finger can be made to become more stiff, it is easy to grab
It is had when going bad frangible object, while capturing harder object and falls danger.
At present, hydraulic technique comparative maturity.Therefore it can achieve the purpose that emulation again to refer to simulation manipulator
Object can be captured energetically, and the utility model pulls the driving mechanism of mechanical finger to be improved by being directed to steel wire, using hydraulic pressure
Element pulls each joint of steel wire driving finger, and installs spring in each joint of finger to overcome in steel wire drawing process
Stiff strength, to solve the above problems.
Invention content
To solve the drawbacks described above of existing machinery finger, the utility model discloses the manipulator that a kind of hydraulic pressure steel wire pulls
Refer to, its property simple and practical in structure is strong.
To achieve the above object, the utility model provides a kind of mechanical finger, which includes：First knuckle, even
The second knuckle of first knuckle is connect, connects the third knuckle of second knuckle, third knuckle stent, the hand of connection third knuckle stent
Refer to main support, digital flexion steel wire, steel wire connecting rod, finger reset steel wire, first knuckle spring and second knuckle Conical Projectile
Spring and third knuckle volute spring, steel wire limited block, threaded hole of steel directing plate, mechanical finger bend and stretch hydraulic pressure, the micro- side of mechanical finger
To rotational hydraulic；It is characterized in that：Mechanical finger first knuckle is mounted on mechanical finger second knuckle, second knuckle by straight pin
Third knuckle is mounted on by straight pin, third knuckle installs third knuckle stent by straight pin, and steel wire connecting rod passes through circle
Pin is mounted on third knuckle stent, and third knuckle stent is mounted on the main branch of finger of connection third knuckle stent by straight pin
Frame, threaded hole of steel directing plate is separately designed must bend close to joint and in joint rotary shaft both sides, mechanical finger in each finger joint
It stretches hydraulic pressure and the back of the hand end is mounted on by straight pin, the micro- lateral rotation hydraulic pressure of mechanical finger is mounted on third knuckle branch by straight pin
Frame lower end；It is connected at first knuckle steel wire positioned at the steel wire head of first knuckle part, digital flexion steel wire sequentially passes through
Threaded hole of steel directing plate under threaded hole of steel directing plate, second knuckle, steel on third knuckle on one finger joint threaded hole of steel directing plate, second knuckle
Threaded hole of steel directing plate, third knuckle stent, steel wire connecting rod under wire hole directing plate, third knuckle；Wherein steel wire limited block is pacified
Mounted in each finger joint volute spring centre position, the distance of first knuckle steel wire limited block and second knuckle steel wire limited block
It is bent to utmostly equal to first knuckle and first knuckle steel wire limited block top is to first knuckle steel wire baffle and second
Distance under finger joint steel wire limited block top to second knuckle during steel wire postive stop baffle；Similarly, second knuckle steel wire limited block
It is bent to utmostly and second knuckle steel wire limited block equal to second knuckle with the distance of third knuckle steel wire limited block
Push up distance during steel wire baffle under second knuckle steel wire lower baffle plate third knuckle steel wire limited block top to third knuckle.It is above-mentioned
There is steel wire guide hole among each threaded hole of steel directing plate, prevent steel wire generation position play during the motion.
The utility model hydraulic part is all disposed within the back of the hand position.
The utility model also provides a kind of manipulator, which includes：Mechanical finger as described above, a mechanical thumb
The palm for referring to and being connect with each mechanical finger, hydraulic pressure are all disposed within the back of the hand position.
Description of the drawings：
Attached drawing 1：First knuckle；
Attached drawing 2：Second knuckle；
Attached drawing 3：Third knuckle；
Attached drawing 4：Third knuckle stent；
Attached drawing 5：Mechanical finger main support；
Attached drawing 6：Main Hydraulic Elements --- contracting；
Attached drawing 7：Main Hydraulic Elements --- it stretches；
Attached drawing 8：Steel wire+spring；
Attached drawing 9：Local steel wire；
Attached drawing 10：Finger stretches side；
Attached drawing 11：Finger stretches the back side；
Attached drawing 12：Digital flexion side；
Attached drawing 13：Digital flexion front；
Attached drawing 14：Nature front；
Attached drawing 15：The nature back side；
Attached drawing 16：Whole machinery the back of the hand face；
Attached drawing 17：Whole manipulator front；
Figure label title：1st, first knuckle, 2, second knuckle, 3, third knuckle, 4, third knuckle stent, 5, finger master
Stent, 6, mechanical finger bend and stretch hydraulic pressure, 7, the micro- lateral rotation hydraulic pressure of finger, 8, steel wire connecting rod, 9, the limiting of third knuckle steel wire
Baffle, 10, third knuckle volute spring, 11, steel wire, 12, second knuckle steel wire postive stop baffle, 13, second knuckle volute spring,
14th, first knuckle steel wire postive stop baffle, 15, first knuckle spring, 16 steel wire limited blocks, 17, finger part, 18, palmar hand
Point, 19, arm segment.
Specific embodiment：
As shown in attached drawing 1, attached drawing 2, attached drawing 3, each finger joint is provided with threaded hole of steel directing plate, and centre is equipped with threaded hole of steel, uses
To prevent generation position play in steel wire drawing process.
To realize that manipulator has larger strength, above-mentioned steel wire is realized by hydraulic system.And hand in the utility model
The bending and stretching of finger is only with a hydraulic pressure, two steel wires；According to the characteristics of human hand, the strength of each finger joint subtracts successively
It is weak：First knuckle strength is minimum, and second knuckle takes second place, and third knuckle strength is maximum；Each finger joint spring is set according to this feature
Coefficient of elasticity be sequentially increased, when manipulator capture object finger by resistance when mechanical finger first segment spring drawn first
It stretches, is also stretched successively as the increase the two or three of pulling force saves finger springs, the strength of spring elongation when object is relatively light
Object can be just captured easily, thus the manipulator can adapt to the shape size of common objects very well；Furthermore when manipulator crawl compared with
During weight body, the pulling force of spring no longer supports, and steel wire continues to pull down at this time, steel wire block top to steel wire baffle, mechanical at this time
Finger can generate larger strength.
Finger resets principle and digital flexion principle is roughly the same, and only finger is resetted without very big pulling force.
The stroke that finger resets the stroke ratio digital flexion steel wire of steel wire is long, thus the long one end in steel wire connecting rod one end is short,
One section of hydraulic pressure is mounted on the back of the hand one end.Micro- lateral rotation of finger is also by hydraulic control；Under usual state, i.e., manipulator does not have
During by external drag, driving hydraulic pressure is in centre position so that mechanical finger is in relaxation state and human hand relaxation state phase
Together.
The utility model hydraulic part is all disposed within the back of the hand position.
The utility model also provides a kind of manipulator, which includes：Mechanical finger as described above, a mechanical thumb
The palm for referring to and being connect with each mechanical finger, hydraulic pressure are all disposed within the back of the hand position.
As described above, the digital flexion of the utility model and stretching, extension only bend and stretch two steel of hydraulic control with a mechanical finger
Silk is realized, simple in structure, efficient.
Claims (2)
1. the mechanical finger that a kind of hydraulic pressure steel wire pulls, including：First knuckle connects the second knuckle of first knuckle, connection
The third knuckle of second knuckle, third knuckle stent, the finger main support of connection third knuckle stent, digital flexion steel wire, steel
Silk connecting rod, finger reset steel wire, first knuckle spring and second knuckle volute spring and third knuckle volute spring, steel wire
Limited block, threaded hole of steel directing plate, mechanical finger bend and stretch hydraulic pressure, the micro- lateral rotation hydraulic pressure of mechanical finger, it is characterized in that：Manipulator
Referring to first knuckle and mechanical finger second knuckle is mounted on by straight pin, second knuckle is mounted on third knuckle by straight pin, the
Three finger joints install third knuckle stent by straight pin, and steel wire connecting rod is mounted on third knuckle stent, third by straight pin
Finger joint stent is mounted on the finger main support of connection third knuckle stent by straight pin, and threaded hole of steel directing plate is separately designed every
A finger joint close to joint and must in joint rotary shaft both sides, mechanical finger bend and stretch hydraulic pressure by straight pin be mounted on the back of the hand
End, the micro- lateral rotation hydraulic pressure of mechanical finger are mounted on third knuckle pedestal lower end by straight pin；Positioned at first knuckle part
Steel wire head is connected at first knuckle steel wire, and digital flexion steel wire sequentially passes through first knuckle threaded hole of steel directing plate, the second finger
Threaded hole of steel directing plate under threaded hole of steel directing plate, second knuckle on section, steel wire under threaded hole of steel directing plate, third knuckle on third knuckle
Hole directing plate, third knuckle stent, steel wire connecting rod；Wherein steel wire limited block is mounted on each finger joint volute spring interposition
It puts, first knuckle steel wire limited block and the distance of second knuckle steel wire limited block are bent to utmostly equal to first knuckle
And first knuckle steel wire limited block top refers to first knuckle steel wire baffle and second knuckle steel wire limited block top to second
Distance under section during steel wire postive stop baffle；Similarly, second knuckle steel wire limited block and third knuckle steel wire limited block away from
From being bent to utmostly equal to second knuckle and second knuckle steel wire limited block top is to second knuckle steel wire lower baffle plate third
Distance under finger joint steel wire limited block top to third knuckle during steel wire baffle.
2. mechanical finger according to claim 1, it is further characterized in that the bending and stretching of finger is only with a manipulator
Finger bends and stretches two steel wires of hydraulic control and realizes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309966.9U CN207480629U (en) | 2017-10-12 | 2017-10-12 | The mechanical finger that a kind of hydraulic pressure steel wire pulls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721309966.9U CN207480629U (en) | 2017-10-12 | 2017-10-12 | The mechanical finger that a kind of hydraulic pressure steel wire pulls |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207480629U true CN207480629U (en) | 2018-06-12 |
Family
ID=62480045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721309966.9U Expired - Fee Related CN207480629U (en) | 2017-10-12 | 2017-10-12 | The mechanical finger that a kind of hydraulic pressure steel wire pulls |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207480629U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877862A (en) * | 2019-03-26 | 2019-06-14 | 安徽理工大学 | It is a kind of for being engaged in the hand-control mechanical automatic hand of dangerous work |
-
2017
- 2017-10-12 CN CN201721309966.9U patent/CN207480629U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877862A (en) * | 2019-03-26 | 2019-06-14 | 安徽理工大学 | It is a kind of for being engaged in the hand-control mechanical automatic hand of dangerous work |
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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 |
Granted publication date: 20180612 Termination date: 20191012 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |