CN207942393U - A kind of vehicular bionic mechanical handgrip - Google Patents
A kind of vehicular bionic mechanical handgrip Download PDFInfo
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- CN207942393U CN207942393U CN201820363766.XU CN201820363766U CN207942393U CN 207942393 U CN207942393 U CN 207942393U CN 201820363766 U CN201820363766 U CN 201820363766U CN 207942393 U CN207942393 U CN 207942393U
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Abstract
The utility model discloses a kind of vehicular bionic mechanical handgrips, including walking dolly and bionic mechanical handgrip mechanism, walking dolly includes vehicle frame, the near front wheel, off-front wheel and trailing wheel, bottom of frame is connected with left front turbin generator and off-front wheel motor, support plate is connected at the top of vehicle frame, bionic mechanical handgrip mechanism is arranged at the top of support plate；Bionic mechanical handgrip mechanism includes palm plate and the thumb being connected on palm plate refers to body, index finger refers to body, middle finger refers to body, the third finger refers to body and little finger refers to body, the bottom of palm plate is connected with the supporting rack being connected at the top of support plate, thumb is equipped on supporting rack, motor, index finger is driven to drive motor, middle finger that motor, nameless drive motor and little finger is driven to drive motor.The utility model is simple and compact for structure, small, and be designed beautifully novelty, simple operation and at low cost, can capture or place article on accurate position, and adaptivity ability is good, safeguard it is simple and convenient, it is highly practical, it is easy to utilize.
Description
Technical field
The utility model belongs to bionic mechanical equipment technical field, and in particular to a kind of vehicular bionic mechanical handgrip.
Background technology
With the rapid development of industrial automation technology, the design and development of manipulator become more and more important.Especially
For when the object of crawl complicated shape, being needed access in the bionic hand of true hand function in some more demanding industrial environments
Object is captured, bionic mechanical handgrip should by and give birth to.Bionic mechanical hand, as its name suggests, used design method is exactly
Bionic Design is a kind of certain holding functions that can imitate human hand, to capture, operation instrument or makes certain required movement
Automatic pilot.It can replace the action of people to realize the automation of operation, can realize article under program
Dexterity crawl and the displaying of specific action.Italy Michele Folherai ter in 2003 et al. have developed and the mankind
Similar bionic hand controls manipulator using neuron signal, and has carried out Bionic Design to manipulator.China
Tsinghua University professor had developed under-actuated bionic manipulator finger in 2004, can capture the object that shape differs with small range
Product.But not only cost is higher for bionic mechanical hand in the prior art, and the design for concentrating on function greatly is made without focusing on
The design for aesthetic of type, shape is fairly simple or even simple and crude, and volume is big, mobile difficult, and degree of freedom is relatively low, crawl article direction
It is single, it can't be advantageously applied to industrial practical.
Utility model content
The technical problem to be solved by the utility model is to the deficiencies in for the above-mentioned prior art, provide a kind of vehicle-mounted
Formula bionic mechanical handgrip, simple and compact for structure, small, be designed beautifully novelty, simple operation and at low cost, can be accurate
Position on capture or place article, adaptivity ability is good, safeguard it is simple and convenient, it is highly practical, it is easy to utilize.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of vehicular bionic mechanical handgrip,
It is characterized in that：Including walking dolly and bionic mechanical handgrip mechanism, the walking dolly includes vehicle frame and is connected to vehicle frame
On the near front wheel, off-front wheel and trailing wheel, the bottom of frame be connected with for drive the near front wheel walk left front turbin generator and use
It is connected with by pillar at the top of the off-front wheel motor for driving off-front wheel walking, the vehicle frame and is used to support bionic mechanical handgrip
Support plate, the bionic mechanical handgrip mechanism are arranged at the top of support plate；
The bionic mechanical handgrip mechanism includes palm plate and the thumb being connected on palm plate refers to body, index finger refers to
Body, middle finger refer to body, the third finger refers to body and little finger refers to body, and the bottom of the palm plate is connected with the branch being connected at the top of support plate
Support is equipped with thumb on support frame as described above and drives motor, index finger that motor, middle finger is driven to drive motor, nameless drive electricity
Machine and little finger drive motor, the thumb to refer to body and connect steel wire by thumb and be fixedly connected on thumb drive motor
Output shaft on coil of wire connection, the index finger, which refers to body and connects steel wire by index finger and be fixedly connected on index finger, drives motor
Coil of wire connection on output shaft, the middle finger refer to body and connect steel wire by middle finger and be fixedly connected on the defeated of middle finger drive motor
Coil of wire connection on shaft, the third finger refer to body and drive motor with the third finger is fixedly connected on by third finger connection steel wire
Output shaft on coil of wire connection, the little finger refer to body by little finger connect steel wire and be fixedly connected on little finger drive
Coil of wire connection on the output shaft of motor.
A kind of above-mentioned vehicular bionic mechanical handgrip, it is characterised in that：The thumb refers to body, index finger refers to body, middle finger
Refer to body, nameless refer to body and little finger refers to body and includes through articulated shaft successively hinged finger root, refers to neutralization finger tip, the palm
It is fixedly connected on plate and refers to root link, the finger root is hinged with the finger root link, and the finger root is connect with the finger root
Frame hinged place is to refer to root line, with the fingers root hinged place is middle section line in the finger, the finger tip is with hinged place in the finger
Minor details line；It is described refer to be provided at root line both ends respectively by articulated shaft and the finger root link and it is described refer to root it is hinged the
One curved hinge is provided with both ends respectively by articulated shaft and in the finger root and the finger hinged second at the middle section line
Curved hinge is provided with both ends at the minor details line and neutralizes the third arc of the finger tip articulation by articulated shaft and described refer to respectively
Shape hinge, first curved hinge connect steel wire with the articulated shaft for referring to root link with thumb, index finger connects steel wire,
Middle finger connects steel wire, nameless connection steel wire or little finger connection steel wire connection.
The utility model has the following advantages compared with prior art：
1, it is compact that the utility model has the advantages of simple structure, small, and be designed beautifully novelty, simple operation and at low cost.
2, the degree of freedom of the utility model is more, and five refer to body and driven respectively by five motors, capture the adaptivity of object
Ability is good, and is easy to control on accurate position and captures or place article.
3, the connection between the utility model joint uses the form of curved hinge, the dismounting be conducive between joint to replace
It changes, safeguards simple and convenient.
4, the utility model can neatly capture cargo, and be driven using walking dolly, be stored at specified position,
It can not only be applied to the access of large piece article (such as mobile phone, cup) and other items in industrial production, additionally it is possible to it is raw to be applied to industry
The access of middle-size and small-size object (such as jewelry, jewellery) is produced, it is highly practical, it is easy to utilize.
In conclusion that the utility model has the advantages of simple structure is compact, small, be designed beautifully novelty, simple operation and cost
It is low, article can be captured or placed on accurate position, and adaptivity ability is good, and maintenance is simple and convenient, highly practical, is convenient for
It promotes and applies.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of vehicular bionic mechanical handgrip of the utility model.
Fig. 2 is the structural schematic diagram that the utility model index finger refers to body.
Reference sign:
1-thumb refers to body；2-index fingers refer to body；2-1-finger tip；
2-2-third curved hinge；During 2-3-refers to；The second curved hinges of 2-4-；
2-5-refers to root；The first curved hinges of 2-6-；2-7-index finger connects steel wire；
2-8-refers to root link；3-middle fingers refer to body；4-the third fingers refer to body；
5-little fingers refer to body；6-thumbs drive motor；7-index fingers drive motor；
8-middle fingers drive motor；9-nameless drive motors；10-little fingers drive motor；
11-supporting racks；12-support plates；13-the near front wheels；
14-trailing wheels；15-off-front wheels；28-vehicle frames；
30-palm plates；29-pillars.
Specific implementation mode
As shown in Figure 1, a kind of vehicular bionic mechanical handgrip of the utility model, including walking dolly and bionic mechanical are grabbed
Mobile phone structure, the walking dolly include vehicle frame 28 and the near front wheel being connected on vehicle frame 28 13, off-front wheel 15 and trailing wheel 14, institute
It states 28 bottom of vehicle frame and is connected with the left front turbin generator for driving the near front wheel 13 to walk and the right side for driving off-front wheel 15 to walk
Preceding turbin generator, 28 top of the vehicle frame is connected with the support plate 12 for being used to support bionic mechanical handgrip by pillar 29, described imitative
The setting of life tool handgrip mechanism is at 12 top of support plate；
The bionic mechanical handgrip mechanism includes that palm plate 30 and the thumb being connected on palm plate 30 refer to body 1, food
Refer to body 2, middle finger refers to body 3, the third finger refers to body 4 and little finger refers to body 5, the bottom of the palm plate 30, which is connected with, is connected to support
The supporting rack 11 at the top of plate 12 is equipped with thumb on support frame as described above 11 and drives motor 6, index finger that motor 7, middle finger is driven to drive
Motor 8, it is nameless drive motor 9 and little finger to drive motor 10, the thumb refer to body 1 by thumb connect steel wire with it is solid
Surely be connected to thumb drive motor 6 output shaft on coil of wire connection, the index finger refer to body 2 by index finger connect steel wire with
Be fixedly connected on index finger drive motor 7 output shaft on coil of wire connection, the middle finger refer to body 3 by middle finger connect steel wire with
Being fixedly connected on middle finger drives the coil of wire on the output shaft of motor 8 to connect, and the third finger refers to body 4 and passes through third finger connection steel
Silk is connect with the coil of wire being fixedly connected on the nameless output shaft for driving motor 9, and the little finger refers to body 5 and passes through little finger
Connection steel wire is connect with the coil of wire being fixedly connected on the output shaft of little finger drive motor 10.
In the present embodiment, the thumb refers to body 1, index finger refers to body 2, middle finger refers to body 3, the third finger refers to body 4 and little finger refers to
Body 5 includes by articulated shaft successively hinged finger root, refers to neutralization finger tip, is fixedly connected on the palm plate 30 and refers to root connection
Frame, the finger root is hinged with the finger root link, and the finger root is to refer to root line, the finger with finger root link hinged place
In with the finger root hinged place be middle section line, hinged place is minor details line in the finger tip and the finger；It is arranged at the finger root line
Have both ends respectively by articulated shaft and the finger root link and it is described refer to hinged the first curved hinge of root, at the middle section line
It is provided with both ends and the second curved hinge hinged in root and the finger is referred to described by articulated shaft respectively, set at the minor details line
Both ends are equipped with respectively by articulated shaft and the third curved hinge for referring to the neutralization finger tip articulation, first curved hinge
Steel wire, index finger connection steel wire, middle finger connection steel wire, nameless connection are connect with the articulated shaft for referring to root link with thumb
Steel wire or little finger connection steel wire connection.
By taking index finger refers to body 2 as an example, as shown in Fig. 2, it includes by articulated shaft successively hinged finger root 2- that the index finger, which refers to body 2,
5, refer to middle 2-3 and finger tip 2-1, be fixedly connected on the palm plate 30 and refer to root link 2-8, the finger root 2-5 and the finger
Root link 2-8 is hinged, and the finger root 2-5 is to refer to root line with the hinged places finger root link 2-8,2-3 and institute in the finger
It states and refers to the hinged places root 2-5 as middle section line, the finger tip 2-1 is minor details line with the hinged places 2-3 in the finger；It is set at the finger root line
It is equipped with both ends and the first hinged curved hinge 2-6 of the root link 2-8 and finger root 2-5 is referred to described by articulated shaft respectively,
Both ends are provided with respectively by articulated shaft second arc hinged with 2-3 in the finger root 2-5 and the finger at the middle section line
It is hinged by the 2-3 and finger tip 2-1 in articulated shaft and the finger respectively to be provided with both ends at the minor details line by hinge 2-4
Third curved hinge 2-2, the first curved hinge 2-6 connect steel wire with the articulated shaft of the finger root link 2-8 with index finger
2-7 connections.
When the utility model is used, when needing to capture article, thumb drives motor 6, index finger to drive motor 7, middle finger
Drive motor 8, nameless drive motor 9 and little finger that motor 10 is driven to rotate forward, thumb drives motor 6 to connect by thumb
Connecing steel wire pulls thumb to refer to centre of the palm lateral bend of the body 1 to palm plate 30, is shunk；Index finger drives motor 7 to connect by index finger
Connecing steel wire pulls index finger to refer to centre of the palm lateral bend of the body 2 to palm plate 30, is shunk；Middle finger drives motor 8 to be connected by middle finger
Steel wire pulls middle finger to refer to centre of the palm lateral bend of the body 3 to palm plate 30, is shunk；The third finger drives motor 9 to connect by the third finger
Connecing steel wire pulls the third finger to refer to centre of the palm lateral bend of the body 4 to palm plate 30, is shunk；Little finger drives motor 10 to pass through small thumb
Referring to connection steel wire pulls little finger to refer to centre of the palm lateral bend of the body 5 to palm plate 30, is shunk；To capture article.Work as crawl
When needing to transport article to article, left front turbin generator drives the near front wheel 13 to walk, and off-front wheel motor drives off-front wheel 15 so that institute
Walking dolly is stated to reach at specified shelf with the bionic mechanical handgrip mechanism and article.It is specified when the article of crawl to be sent to
At shelf, and when needing to be placed into article on specified article placement location, thumb drives motor 6, index finger to drive motor
7, middle finger drives motor 8, nameless drive motor 9 and little finger that motor 10 is driven to invert, and thumb drives motor 6 by big
Thumb connection steel wire pulls thumb to refer to body 1 and trails, and index finger drives motor 7 to pull index finger to refer to body 2 by index finger connection steel wire
It trails, middle finger drives motor 8 to pull middle finger to refer to body 3 by middle finger connection steel wire and trails, and the third finger drives motor 9 to pass through nothing
Name refers to connection steel wire and the third finger is pulled to refer to body 4 and trail, and little finger drives motor 10 to pass through little finger and connect steel wire and pulls small thumb
Refer to body 5 to trail, to which the article of crawl to be sent at specified shelf.
The above is only the preferred embodiment of the utility model, not imposed any restrictions to the utility model, every
Any simple modification, change and equivalent structure made by above example are changed according to the utility model technical spirit, still
Belong in the protection domain of technical solutions of the utility model.
Claims (2)
1. a kind of vehicular bionic mechanical handgrip, it is characterised in that：Including walking dolly and bionic mechanical handgrip mechanism, the row
It includes vehicle frame (28) and the near front wheel (13) being connected on vehicle frame (28), off-front wheel (15) and trailing wheel (14) to walk trolley, described
Vehicle frame (28) bottom is connected with for driving the left front turbin generator of the near front wheel (13) walking and for driving off-front wheel (15) walking
Off-front wheel motor, the support plate for being used to support bionic mechanical handgrip is connected with by pillar (29) at the top of the vehicle frame (28)
(12), the bionic mechanical handgrip mechanism setting is at the top of support plate (12)；
The bionic mechanical handgrip mechanism includes palm plate (30) and the thumb being connected on palm plate (30) refer to body (1),
Index finger refers to body (2), middle finger refers to body (3), the third finger refers to body (4) and little finger refers to body (5), the bottom connection of the palm plate (30)
There is the supporting rack (11) being connected at the top of support plate (12), thumb is installed on support frame as described above (11) and drives motor (6), food
Refer to and drives motor (7), middle finger that motor (8), nameless drive motor (9) and little finger is driven to drive motor (10), the big thumb
Refer to body (1) by the coil of wire that thumb connects steel wire and is fixedly connected on the output shaft of thumb drive motor (6) to connect
It connects, the index finger refers to the steel wire that body (2) is connected steel wire and be fixedly connected on the output shaft of index finger drive motor (7) by index finger
Disk connects, and the middle finger refers to body (3) and connects steel wire by middle finger and be fixedly connected on the output shaft of middle finger drive motor (8)
Coil of wire connects, and the third finger refers to body (4) and drives motor (9) with the third finger is fixedly connected on by nameless connection steel wire
Coil of wire connection on output shaft, the little finger refer to body (5) and connect steel wire by little finger and be fixedly connected on little finger band
Coil of wire connection on the output shaft of dynamic motor (10).
2. a kind of vehicular bionic mechanical handgrip described in accordance with the claim 1, it is characterised in that：The thumb refer to body (1),
Index finger refers to body (2), middle finger refers to body (3), the third finger refers to body (4) and little finger refers to body (5) including hinged successively by articulated shaft
Finger root, refer to neutralization finger tip, be fixedly connected on the palm plate (30) and refer to root link, the finger root connect with the finger root
Frame is hinged, and the fingers root and fingers root link hinged place are finger root line, with the finger root hinged place is middle section in the finger
Line, the finger tip are minor details line with hinged place in the finger；Both ends are provided with respectively by articulated shaft and institute at the finger root line
State refer to root link and it is described refer to hinged the first curved hinge of root, be provided with both ends at the middle section line passes through articulated shaft respectively
With hinged the second curved hinge in the finger root and the finger, be provided at the minor details line both ends respectively by articulated shaft with
It is described to refer to the third curved hinge for neutralizing the finger tip articulation, first curved hinge and the articulated shaft for referring to root link
Steel wire, index finger connection steel wire, middle finger connection steel wire, nameless connection steel wire or little finger connection steel wire is connect with thumb to connect
It connects.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820363766.XU CN207942393U (en) | 2018-03-17 | 2018-03-17 | A kind of vehicular bionic mechanical handgrip |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820363766.XU CN207942393U (en) | 2018-03-17 | 2018-03-17 | A kind of vehicular bionic mechanical handgrip |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563222A (en) * | 2018-03-17 | 2018-09-21 | 西安科技大学 | The bionical integrated handgrip of vehicle intelligent and its control system and control method |
-
2018
- 2018-03-17 CN CN201820363766.XU patent/CN207942393U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563222A (en) * | 2018-03-17 | 2018-09-21 | 西安科技大学 | The bionical integrated handgrip of vehicle intelligent and its control system and control method |
| CN108563222B (en) * | 2018-03-17 | 2024-02-02 | 西安科技大学 | Vehicle-mounted intelligent bionic integrated gripper, control system and control method thereof |
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