CN208896112U

CN208896112U - A kind of mechanical finger and manipulator

Info

Publication number: CN208896112U
Application number: CN201821754031.6U
Authority: CN
Inventors: 姜三; 肖义斌; 季全军
Original assignee: Shun Quan Da (chongqing) Electronics Co Ltd
Current assignee: Shun Quan Da (chongqing) Electronics Co Ltd
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2019-05-24
Anticipated expiration: 2028-10-26

Abstract

The utility model relates to technical field of automation equipment, its purpose is to provide a kind of mechanical finger and including the manipulator of mechanical finger.Technical solution is as follows: a kind of mechanical finger, leads power haulage chain and the bending of drive finger joint group and self-locking self-locking haulage chain including what finger joint group, drive finger joint group were bent, further includes the crawl driving mechanism that driving leads that power haulage chain and self-locking haulage chain are bent.A kind of manipulator, including mechanical finger, the mechanical finger are three；It further include fixing seat, two left hands that three mechanical fingers are divided into positioned at fixing seat side refer to and the right hand positioned at the fixing seat other side refers to, three crawl driving mechanisms in three mechanical fingers are divided into positioned at two first crawl driving mechanisms of fixing seat side and grab driving mechanism positioned at the second of the fixing seat other side, and the fixing seat is fixedly connected with the first driving device in the first crawl driving mechanism and the second grasping mechanism respectively.The utility model, which can be realized, stablizes crawl to workpiece.

Description

A kind of mechanical finger and manipulator

Technical field

The utility model relates to technical field of automation equipment, more particularly to a kind of mechanical finger and manipulator.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument, since it can replace the heavy labor of people to realize the mechanization and automation of production, It can operate under hostile environment to protect personal safety, thus be widely used in technical field of automation equipment.

The method of clamping that current manipulator mostly uses greatly simple joint to act on, this robot manipulator structure is simple, processing cost It is low, however since the freedom degree of mechanical finger is seldom, manipulator can only often grab particular kind of workpiece, usually by manipulator With the one-to-one setting of clamping workpiece, the crawl of special-shaped workpiece not can be carried out.In the prior art, occurred such as Chinese patent Technology disclosed in CN106426255A, the prior art is as shown in figure 12, and mechanical finger designs for multi-joint, the first joint 110 It is hinged to be formed with second joint 111 and leads power transmission chain, third joint 112 and the 4th joint 113 are hinged to form clamping Portion, third joint 112 and the 4th joint 113 form two gripping sections of clamping part, can be realized the clamping of special-shaped workpiece；But In clamping process, the single crawl for leading power transmission chain to control clamping part to workpiece is only relied on, when being grabbed to workpiece, folder It holds and is also easy to produce shaking between two in portion gripping sections, cause manipulator crawl unstable.

Utility model content

The utility model provides a kind of mechanical finger and manipulator, can be realized and stablizes crawl to workpiece.

The technical solution adopted in the utility model is:

A kind of mechanical finger leads power haulage chain and the bending of drive finger joint group simultaneously including what finger joint group, drive finger joint group were bent Self-locking self-locking haulage chain further includes the crawl driving mechanism that power haulage chain and the bending of self-locking haulage chain are led in driving, the power of leading The side of finger joint group is hingedly arranged in haulage chain and self-locking haulage chain.

Preferably, the finger joint group includes that the first knuckle, second knuckle and third being successively hingedly arranged from the bottom to top refer to Section, the finger joint group further include the driving wheel for being installed in first knuckle bottom, driving of the driving wheel by crawl driving mechanism It is rotated with the crawl direction along finger joint group；

The power of the leading haulage chain include successively hingedly be arranged lead power connecting plate, first lead power connecting rod, first lead push bar and Second leads power connecting rod, and the power of the leading connecting plate is fixedly connected with the side of driving wheel, and described first leads and push bar also respectively with first Finger joint and second knuckle are hinged, and described second to lead one end and third knuckle that power connecting rod leads power connecting rod far from second hinged；

The self-locking haulage chain includes the self-locking connecting plate being successively hingedly arranged, the first self-locking connecting rod, the first self-locking push rod, The other side of two self-locking connecting rods and the second self-locking push rod, the self-locking connecting plate and driving wheel is flexibly connected, and described first self-locking pushes away Bar is also hinged with first knuckle and second knuckle respectively, the described one end of second self-locking push rod far from the second self-locking connecting rod respectively with Second knuckle and third knuckle are hinged.

Preferably, connecting hole is offered in the middle part of the self-locking connecting plate, the self-locking connecting plate passes through connecting hole and driving wheel Hingedly, the side that the self-locking connecting plate is located at connecting hole offers kidney slot, is provided between the self-locking connecting plate and driving wheel Leaf spring, one end of the leaf spring and driving wheel are affixed, and the other end of the leaf spring is provided with convex block, and the convex block is threaded through kidney-shaped In hole.

Preferably, the crawl driving mechanism includes first driving device, the first driving wheel, the first ratio wheel, worm screw and U Type seat, the worm screw are threaded through in the closure of U-shaped seat, and the end of the worm screw and the first ratio wheel are affixed, and described first drives The output end and the first driving wheel of dynamic device are affixed, and first driving wheel is meshed with the first ratio wheel, the first knuckle Flared end by driving wheel and U-shaped seat is hinged, and the driving wheel is meshed with worm screw.

Preferably, the first knuckle, second knuckle and third knuckle are respectively set away from the side for leading power haulage chain There is friction plate.

A kind of manipulator, including mechanical finger described in any of the above embodiments.

Preferably, the mechanical finger is three.

It preferably, further include fixing seat for three mechanical fingers to be fixed, three mechanical fingers It is divided into that two left hands positioned at fixing seat side refer to and the right hand positioned at the fixing seat other side refers to, in three mechanical fingers Three crawl driving mechanisms are divided into positioned at two first crawl driving mechanisms of fixing seat side and positioned at the fixing seat other side Second crawl driving mechanism, the fixing seat are filled with the first driving in the first crawl driving mechanism and the second grasping mechanism respectively The fixing end set is fixedly connected.

It preferably, further include for driving two left hands to refer to that the pincers of relative rotation take driving mechanism, the pincers take driving machine Structure is connect with two the first crawl driving mechanisms respectively.

Preferably, it includes the second driving device, the second driving wheel, the second ratio wheel, second turn that the pincers, which take driving mechanism, To wheel, two the second driven wheels and mounting bases, second driving device, the second driving wheel, the second ratio wheel and second are turned to Wheel is articulated in mounting base, and the mounting base is fixedly connected with fixing seat, and two the second driven wheels are grabbed with two first respectively Take driving mechanism affixed, the output end and the second driving wheel of second driving device are affixed, second driving wheel and second Ratio wheel is meshed, and second ratio wheel is meshed with the second deflecting roller, second ratio wheel, the second deflecting roller respectively with Two the second driven wheels are meshed.

The beneficial effects of the utility model embody a concentrated reflection of:

1) mechanical finger and manipulator, which can be realized, stablizes crawl to workpiece, enhances grasping force；Specifically, make With in the process, lead power haulage chain and self-locking haulage chain pass through crawl driving mechanism driving, subsequent finger joint group lead power haulage chain, It is overturn under the driving of self-locking haulage chain, leads power haulage chain at this time and play the role of strength transmitting；When finger joint group is close to crawl driving When one end of mechanism touches associated workpiece, power haulage chain is led, self-locking haulage chain continues the band under the driving of crawl driving mechanism Thus dynamic finger joint group bending makes finger joint group far from one end of crawl driving mechanism gradually close to workpiece surface；It is complete to finger joint group When being bonded with workpiece, it is self-locking to carry out that self-locking haulage chain generates the power contrary with crawl, i.e., lead at this time power haulage chain by Power towards crawl direction, self-locking haulage chain institute's stress with lead power haulage chain Impact direction on the contrary, so that finger joint group by Power reaches balance, and finger joint group is avoided to shake, and realizes firm clamping；

2) manipulator can realize the movement of clamping and obvolvent crawl respectively, versatile；Specifically, when workpiece is located at a left side When plane where the third knuckle that finger and the right hand refer to, first knuckle and second knuckle are not affected by the screen resilience of workpiece, left hand Refer to and refers to opposite obvolvent with the right hand, it can be achieved that the clamping to workpiece acts；In addition, left hand refer to the right hand refer between can produce opposite embrace The movement of conjunction is achieved in the obvolvent grasping movement to workpiece；Due to the setting of mechanical finger so that manipulator realize it is stable Clamping and grasping movement, while two left hands refer to the driving for referring to the right hand and being grabbed driving mechanism by three respectively, are conducive to realization pair The crawl of special-shaped workpiece avoids the problem of different workpieces need to change different manipulators, versatile, saves production cost；

3) manipulator can also carry out pincers and take movement, be applicable in a variety of works on the basis of realizing clamping and obvolvent grasping movement Condition；Specifically, two left hands refer to can realize the movement that pincers take under the driving that pincers take driving mechanism, and pincers take driving mechanism to drive Two left hands refer to that relative rotation, realization take movement to the pincers of workpiece.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of mechanical finger of the utility model；

Fig. 2 is a kind of schematic diagram at another visual angle of mechanical finger shown in FIG. 1；

Fig. 3 is a kind of side view of mechanical finger shown in FIG. 1；

Fig. 4 is a kind of cross-sectional view of mechanical finger shown in Fig. 3；

Fig. 5 is a kind of explosive view of mechanical finger shown in FIG. 1；

Fig. 6 is a kind of structural schematic diagram of manipulator of the utility model；

Fig. 7 is a kind of cross-sectional view of manipulator shown in FIG. 1；

Fig. 8 is a kind of explosive view of manipulator shown in fig. 6；

Fig. 9 is the structural schematic diagram under a kind of manipulator clamping state of the utility model；

Figure 10 is the structural schematic diagram under a kind of manipulator seized condition of the utility model；

Figure 11 is that a kind of mechanical hand vice of the utility model take the structural schematic diagram under state；

Figure 12 is the structural schematic diagram of manipulator in the prior art.

In figure: 1- finger joint group；11- first knuckle；12- second knuckle；13- third knuckle；14- driving wheel；2- leads power and leads Draw chain；21- leads power connecting plate；22- first leads power connecting rod；23- first, which is led, pushes bar；24- second leads power connecting rod；The self-locking traction of 3- Chain；The self-locking connecting plate of 31-；311- connecting hole；312- kidney slot；The self-locking connecting rod of 32- first；The self-locking push rod of 33- first；34- second Self-locking connecting rod；The self-locking push rod of 35- second；36- leaf spring；4- grabs driving mechanism；41- first driving device；42- first drives Wheel；The first ratio wheel of 43-；44- worm screw；45-U type seat；5- friction plate；6- fixing seat；The second driving device of 71-；72- second drives Driving wheel；The second ratio wheel of 73-；The second deflecting roller of 74-；The second driven wheel of 75-；76- mounting base；8- shell；The first joint 110-； 111- second joint；112- third joint；The 4th joint 113-.

Specific embodiment

The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing Illustrate, expression is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.

The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this In novel description, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate Or imply that signified unit or element must have a particular orientation, be constructed and operated in a specific orientation, therefore retouch in attached drawing The term for stating positional relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.

1~11 the utility model is further described with reference to the accompanying drawing.

Embodiment 1:

A kind of mechanical finger leads 2 and of power haulage chain including what finger joint group 1, drive finger joint group 1 were bent as shown in Fig. 1 to 5 The bending of finger joint group 1 and self-locking self-locking haulage chain 3 are driven, further includes driving grabbing of leading that power haulage chain 2 and self-locking haulage chain 3 bend Driving mechanism 4 is taken, the side of finger joint group 1 is hingedly arranged in the power of the leading haulage chain 2 and self-locking haulage chain 3.

Now the embodiment of mechanical finger is illustrated.Seized condition is as shown in Figure 10, in use, leads power and leads Draw chain 2 and self-locking haulage chain 3 to drive by crawl driving mechanism 4, subsequent finger joint group 1 is leading power haulage chain 2, self-locking haulage chain It is overturn under 3 driving, leads power haulage chain 2 at this time and play the role of strength transmitting；When finger joint group 1 is close to crawl driving mechanism 4 When one end touches associated workpiece, power haulage chain 2 is led, self-locking haulage chain 3 continues to drive under the driving of crawl driving mechanism 4 and refer to Section group 1 is bent, and thus makes finger joint group 1 far from one end of crawl driving mechanism 4 gradually close to workpiece surface；It is complete to finger joint group 1 When being bonded with workpiece, it is self-locking to carry out that self-locking haulage chain 3 generates the power contrary with crawl, i.e., lead at this time power haulage chain 2 by The power that arrives 3 stress of self-locking haulage chain and leads 2 Impact direction of power haulage chain on the contrary, so that finger joint group 1 towards crawl direction Stress reach balance, avoid finger joint group 1 from shaking, realize firm clamping, can effectively enhance grasping force.

Further, the finger joint group 1 includes first knuckle 11,12 and of second knuckle being successively hingedly arranged from the bottom to top Third knuckle 13, it should be noted that first knuckle 11 is located at the bottom end of finger joint group 1, second knuckle group 12 is located at finger joint group 1 Middle-end, third knuckle group 13 are located at the top of finger joint group 1, and when carrying out grasping movement, generally first knuckle 11 is touched first To workpiece, subsequent second knuckle 12, third knuckle 13 successively close to workpiece surface, are achieved in crawl of the finger joint group 1 to workpiece； In addition, the finger joint group 1 further includes the driving wheel 14 being hingedly arranged with first knuckle 11, the driving wheel 14 is by crawl driving machine The driving of structure 4 is rotated with the crawl direction along finger joint group 1, and the crawl direction of finger joint group 1 is finger joint group 1 towards workpiece Direction.

The power of the leading haulage chain 2 include successively hingedly be arranged lead power connecting plate 21, first lead power connecting rod 22, first lead and push Bar 23 and second leads power connecting rod 24, and the power of the leading connecting plate 21 is fixedly connected with the side of driving wheel 14, and described first leads and push bar 23 is also hinged with first knuckle 11 and second knuckle 12 respectively, and described second, which leads power connecting rod 24, leads the one of power connecting rod 24 far from second End is hinged with third knuckle 13.

It is fixedly connected it should be noted that leading power connecting plate 21 with driving wheel 14, so that leading power haulage chain 2 can be with finger joint group 1 Flip-flop movement, when first knuckle 11 touches workpiece, workpiece generates screen resilience to first knuckle 11, when first knuckle 11 is led When the rebound dynamic balance of the power for clamping workpiece and workpiece that the driving of power connecting plate 21 generates generated to first knuckle 11, first knuckle 11 stop operating；At the same time, it leads power connecting plate 21 and driving wheel 14 continues stress, lead power connecting plate 21 and successively drive first to lead power company Bar 22, first lead push bar 23 and second lead power connecting rod 24 overturning, due to described first lead push bar 23 also respectively with first refer to Section 11 and second knuckle 12 are hinged, and second knuckle 12 can be made to lead power connecting rod 22 and first first and lead and hold under the driving for pushing bar 23 Continuous overturning, when second knuckle 12 touches workpiece, 12 stress balance of second knuckle, second knuckle 12 stops operating；By institute Stating second, to lead one end and third knuckle 13 that power connecting rod 24 leads power connecting rod 24 far from second hinged, and subsequent third knuckle 13 can be the Two lead and persistently overturn under the driving of power connecting rod 24, until third knuckle 13 close to workpiece surface, thus crawl process is completed.

The self-locking haulage chain 3 includes the self-locking connecting plate 31 being successively hingedly arranged, the first self-locking connecting rod 32, first is self-locking pushes away The other side of bar 33, the second self-locking connecting rod 34 and the second self-locking push rod 35, the self-locking connecting plate 31 and driving wheel 14 is flexibly connected, The first self-locking push rod 33 is also hinged with first knuckle 11 and second knuckle 12 respectively, and the second self-locking push rod 35 is far from the One end of two self-locking connecting rods 34 is hinged with second knuckle 12 and third knuckle 13 respectively.

It should be noted that the mode of traction of self-locking haulage chain 3 is identical as power haulage chain 2 is led, due in self-locking haulage chain 3 Self-locking connecting plate 31 and driving wheel 14 be flexibly connected, the power process of leading of self-locking haulage chain 3 is later than and leads power haulage chain 2, is grabbing After the completion of journey, the screen resilience contrary with grabbing, 3 stress of self-locking haulage chain are generated between self-locking connecting plate 31 and driving wheel 14 With lead 2 Impact direction of power haulage chain on the contrary, the stress between finger joint group 1 can be made to reach balance, avoid finger joint group 1 from shaking.

During being grabbed, leads power haulage chain 2 and self-locking haulage chain 3 can be by stress condition adjust automatically finger joint group The bending deformation quantity of each finger joint in 1 can carry out the crawl of special-shaped workpiece, avoid the shape limitation to grabbing workpiece, versatility By force.

Further, the middle part of the self-locking connecting plate 31 offers connecting hole 311, and the self-locking connecting plate 31 passes through connecting hole 311 is hinged with driving wheel 14, and the side that the self-locking connecting plate 31 is located at connecting hole 311 offers kidney slot 312, the self-locking company It is provided with leaf spring 36 between plate 31 and driving wheel 14, in the utility model, leaf spring 36 is arranged using arc, and screen resilience is more preferable, i.e., Leaf spring 36 is the flexible link of arc, and one end of the leaf spring 36 and driving wheel 14 are affixed, and the other end of the leaf spring 36 is provided with Convex block, the convex block are threaded through in kidney slot 312；That is one end of leaf spring 36 and driving wheel 14 is affixed, the other end passes through waist-shaped hole 312 are pivotally connected with self-locking connecting plate 31.

It is connect it should be noted that the elastic elements such as torsional spring can also be used in self-locking connecting plate 31 with driving wheel 14.It was using Cheng Zhong, crawl driving mechanism 4 drive driving wheel 14 to rotate towards workpiece direction；One is rotated in driving wheel 14 to self-locking connecting plate 31 When determining degree, leaf spring 36 and waist-shaped hole 312 are pushed against, and self-locking connecting plate 31 is rotated with the rotation of driving wheel 14, are thus driven First self-locking connecting rod 32, the first self-locking push rod 33, the second self-locking connecting rod 34 and the second self-locking push rod 35 are overturn, self-locking at this time Haulage chain 3 to the effect of the driving bending of finger joint group 1 with to lead power haulage chain 2 identical to the driving effect of finger joint group 1；It is same with this When, self-locking connecting plate 31 generated under the action of leaf spring 36 with towards the opposite screen resilience of workpiece direction (i.e. crawl direction), So that the stress of self-locking haulage chain 3 is with the stress of leading power haulage chain 2 on the contrary, the stress balance of finger joint group 1, enhancing crawl are steady It is qualitative.

Further, the crawl driving mechanism 4 includes first driving device 41, the first driving wheel 42, the first ratio wheel 43, worm screw 44 and U-shaped seat 45, the worm screw 44 are threaded through in the closure of U-shaped seat 45, and the end of the worm screw 44 subtracts with first Speed wheel is 43 affixed, and the output end of the first driving device 41 and the first driving wheel 42 are affixed, first driving wheel 42 and the One ratio wheel 43 is meshed, and the first knuckle 11 is hinged by driving wheel 14 and the flared end of U-shaped seat 45, the driving wheel 14 It is meshed with worm screw 44.

It should be noted that in use, first driving device 41 drives first to slow down by the first driving wheel 42 43 rotation of wheel, the first ratio wheel 43 and worm screw 44 are affixed, so that first driving device 41 drives the rotation of worm screw 44, due to the The outer number of teeth of one ratio wheel 43 is greater than the number of teeth of the first driving wheel 42, thus can realize that the reduction revolving speed of worm screw 44 and increase turn Square reduces to finger joint group 1, leads 3 impact force of power haulage chain 2 and self-locking haulage chain, further enhances grasp stability, be hardly damaged Workpiece.

Further, the first knuckle 11, second knuckle 12 and third knuckle 13 are equal away from the side for leading power haulage chain 2 It is respectively arranged with friction plate 5, that is, leads power haulage chain 2 and the side that the finger of finger joint group 1 is carried on the back is arranged in self-locking haulage chain 3, it is multiple to rub Wiping board 5 is separately positioned on the position of the finger pulp of first knuckle 11, second knuckle 12 and third knuckle 13.It should be noted that institute Stating friction plate 5 can be used but be not limited to the steel plate of rubber slab, striped, for enhancing finger joint group when grabbing or clamping workpiece Frictional force between 1 and workpiece further promotes the stability of crawl or clamping workpiece.

Embodiment 2:

A kind of manipulator, including mechanical finger as described in Example 1.It should be understood that the mechanical finger of manipulator It may be configured as one or more, to realize that the envelope to special-shaped workpiece grabs.Further, the mechanical finger is three.It needs It is noted that a variety of arrangements such as ipsilateral setting, centripetal setting, two sides setting can be used in three mechanical fingers, using same Side setting can be achieved to grab work to the envelope of workpiece, can be achieved to take the pincers of workpiece movement using centripetal setting, two sides setting It can be achieved at the same time and movement, the implementation result such as take more preferable on the crawl of the envelope of workpiece, pincers.

Further, as shown in Fig. 6 to 8, the manipulator further includes for three mechanical fingers to be fixed Fixing seat 6, two left hands that three mechanical fingers are divided into positioned at 6 side of fixing seat refer to 91 and be located at fixing seat 6 it is another The right hand of side refers to 92, and three in three mechanical fingers crawl driving mechanisms are divided into positioned at two of 6 side of fixing seat the One grabs driving mechanism and grabs driving mechanism positioned at the second of 6 other side of fixing seat, and the fixing seat 6 is grabbed with first respectively Driving mechanism is fixedly connected with the fixing end of the first driving device 41 in the second grasping mechanism.

Now the embodiment of manipulator is illustrated.In use, three mechanical fingers are oppositely arranged, and form position Two left hands in 6 side of fixing seat refer to 91 and the right hand positioned at 6 other side of fixing seat refer to 92, two left hands refer to 91 and one at this time A right hand refers to 92 movements that clamping or obvolvent crawl can be realized under the driving of crawl driving mechanism；Wherein clamping movement such as Fig. 9 It is shown, when workpiece be located at left hand refer to 91 refer to the right hand plane where 92 third knuckle 13 when, first knuckle and second knuckle It is not affected by the screen resilience of workpiece, left hand refers to that 91 refer to 92 opposite obvolvents, it can be achieved that the clamping to workpiece acts with the right hand；Obvolvent crawl As shown in Figure 10, the operating principle of mechanical finger is identical as described in Example 1, and it will not go into details herein, and left hand refers to 91 at this time for movement Refer to the movement that can produce opposite obvolvent between 92 with the right hand, is achieved in the obvolvent grasping movement to workpiece；Due to mechanical finger Setting so that manipulator realizes stable clamping and grasping movement, at the same two left hands refer to 91 and the right hand refer to 92 respectively by three The driving of a crawl driving mechanism avoids different workpieces and needs to change different manipulators conducive to the crawl realized to special-shaped workpiece The problem of, it is versatile, save production cost.

It further, further include for driving two left hands to refer to that the pincers of 91 relative rotations take driving mechanism, the pincers take drive Motivation structure is connect with two the first crawl driving mechanisms respectively.It should be noted that two left hands refer to that 91 can take drive in pincers The movement that pincers take is realized under the driving of motivation structure, pincers take movement, and pincers take driving mechanism that two left hands is driven to refer to 91 as shown in figure 11 It relatively rotates, realization takes movement to the pincers of workpiece.

Further, it includes the second driving device 71, the second driving wheel 72, the second ratio wheel that the pincers, which take driving mechanism, 73,74, two the second driven wheels 75 of the second deflecting roller and mounting base 76, second driving device 71, the second driving wheel 72, Two ratio wheels 73 and the second deflecting roller 74 are articulated in mounting base 76, and the mounting base 76 is fixedly connected with fixing seat 6, and two Second driven wheel 75 is affixed with two first crawl driving mechanisms respectively, it is preferred that two the second driven wheels 75 respectively with two U-shaped seat 45 in first crawl driving mechanism is affixed, and the output end of second driving device 71 and the second driving wheel 72 are affixed, Second driving wheel 72 is meshed with the second ratio wheel 73, and second ratio wheel 73 is meshed with the second deflecting roller 74, institute The second ratio wheel 73, the second deflecting roller 74 is stated to be meshed with two the second driven wheels 75 respectively.

It should be noted that carry out pincers take movement when, the second driving device 71 by the second driving wheel 72 drive second Ratio wheel 73 rotate, the second ratio wheel 73 drive the second driving wheel 72 rotation, be arranged in two left hands refer on two second from Driving wheel 75 is engaged with the second ratio wheel 73, the second deflecting roller 74 respectively, logical with the second driven wheel 75 of 74 kernel of the second deflecting roller It crosses the second deflecting roller 74 to be turned to, so that the reverses direction of two the second driven wheels 75 is kept on the contrary, thus can realize two Second driven wheel 75 opposite rotates backward, and two the second driven wheels 75 are affixed with two first crawl driving mechanisms respectively, Thus it can realize that two left hands refer to 91 opposite or rotate backward, complete pincers and taking movement；In the process, due to the second ratio wheel The 73 outer number of teeth is greater than the number of teeth of the second driving wheel 72, thus can reduce the revolving speed of two the second driven wheels 75, while increasing two The torque of a second driven wheel 75, reduction refer to 91 impact force to two left hands, avoid the damage that pincers are taken with workpiece, realize to work Effective clamping of part.

Further, the first driving device 41, the second driving device 71 are servo motor；It should be noted that The first driving device 41 can with but be not limited only to drag cup brushless motor using model MAXON A-MAX221569, Second driving device 71 can with but be not limited only to translation motor using model LDX218.

It further, further include shell 8, the fixing seat 6 is arranged in shell 8.It should be noted that shell 8 is used for It realizes the protection to first driving device 41 and the second driving device 71, it is avoided to be encroached on by the external world, while keeping this practical new Type is integrally more aesthetically pleasing, is easily installed and uses.

The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is applied directly or indirectly in Other related technical areas are also included in the patent protection scope of the utility model.

Claims

1. a kind of mechanical finger, it is characterised in that: lead power haulage chain (2) including what finger joint group (1), drive finger joint group (1) were bent It further include that power haulage chain (2) and self-locking haulage chain are led in driving with drive finger joint group (1) bending and self-locking self-locking haulage chain (3) (3) the crawl driving mechanism (4) bent, the power of the leading haulage chain (2) and self-locking haulage chain (3) are hinged to be arranged in finger joint group (1) side.

2. a kind of mechanical finger according to claim 1, it is characterised in that: the finger joint group (1) include from the bottom to top according to The secondary first knuckle (11) being hingedly arranged, second knuckle (12) and third knuckle (13), the finger joint group (1) further include and first The driving wheel (14) that finger joint (11) is hingedly arranged, the driving wheel (14) by crawl driving mechanism (4) driving along finger joint group (1) crawl direction is rotated；

The power of the leading haulage chain (2) include successively hingedly be arranged lead power connecting plate (21), first lead power connecting rod (22), first lead power Push rod (23) and second is led power connecting rod (24), and the power of the leading connecting plate (21) is fixedly connected with the side of driving wheel (14), and described One lead push bar (23) also respectively with first knuckle (11) and second knuckle (12) hingedly, described second to lead power connecting rod (24) separate Second leads one end of power connecting rod (24) and third knuckle (13) hingedly；

The self-locking haulage chain (3) includes the self-locking connecting plate (31) being successively hingedly arranged, the first self-locking connecting rod (32), first self-locking Push rod (33), the second self-locking connecting rod (34) and the second self-locking push rod (35), the self-locking connecting plate (31) are another with driving wheel (14) Side flexible connection, the first self-locking push rod (33) also respectively with first knuckle (11) and second knuckle (12) hingedly, it is described It is cut with scissors respectively with second knuckle (12) and third knuckle (13) one end of second self-locking push rod (35) far from the second self-locking connecting rod (34) It connects.

3. a kind of mechanical finger according to claim 2, it is characterised in that: offered in the middle part of the self-locking connecting plate (31) Connecting hole (311), the self-locking connecting plate (31) pass through connecting hole (311) and driving wheel (14) hingedly, the self-locking connecting plate (31) It offers kidney slot (312) positioned at the side of connecting hole (311), is provided between the self-locking connecting plate (31) and driving wheel (14) Leaf spring (36), one end of the leaf spring (36) and driving wheel (14) are affixed, and the other end of the leaf spring (36) is provided with convex block, institute Convex block is stated to be threaded through in kidney slot (312).

4. a kind of mechanical finger according to claim 2 or 3, it is characterised in that: the crawl driving mechanism (4) includes the One driving device (41), the first driving wheel (42), the first ratio wheel (43), worm screw (44) and U-shaped seat (45), the worm screw (44) It is threaded through in the closure of U-shaped seat (45), the end of the worm screw (44) and the first ratio wheel (43) are affixed, first driving The output end of device (41) and the first driving wheel (42) are affixed, and first driving wheel (42) is mutually nibbled with the first ratio wheel (43) It closes, the first knuckle (11) is hinged by driving wheel (14) and the flared end of U-shaped seat (45), the driving wheel (14) and worm screw (44) it is meshed.

5. a kind of mechanical finger according to claim 4, it is characterised in that: the first knuckle (11), second knuckle (12) deviate from third knuckle (13) and lead the side of power haulage chain (2) and be respectively arranged with friction plate (5).

6. a kind of manipulator, it is characterised in that: including mechanical finger such as described in any one of claim 1 to 5.

7. a kind of manipulator according to claim 6, it is characterised in that: the mechanical finger is three.

8. a kind of manipulator according to claim 7, it is characterised in that: further include for three mechanical fingers into The fixed fixing seat (6) of row, two left hands that three mechanical fingers are divided into positioned at fixing seat (6) side refer to (91) and are located at The right hand of fixing seat (6) other side refers to (92) that three crawl driving mechanisms in three mechanical fingers, which are divided into being located at, fixes The two first crawl driving mechanisms of seat (6) side and the second crawl driving mechanism for being located at fixing seat (6) other side, it is described solid Reservation (6) is fixed with the fixing end of the first driving device (41) in the first crawl driving mechanism and the second grasping mechanism respectively to be connected It connects.

9. a kind of manipulator according to claim 8, it is characterised in that: further include for driving two left hands to refer to (91) phase Driving mechanism is taken to the pincers of rotation, the pincers take driving mechanism to connect respectively with two the first crawl driving mechanisms.

10. a kind of manipulator according to claim 9, it is characterised in that: it includes the second driving that the pincers, which take driving mechanism, Device (71), the second driving wheel (72), the second ratio wheel (73), the second deflecting roller (74), two the second driven wheels (75) and peace It fills seat (76), second driving device (71), the second driving wheel (72), the second ratio wheel (73) and the second deflecting roller (74) are equal Be articulated on mounting base (76), the mounting base (76) is fixedly connected with fixing seat (6), two the second driven wheels (75) respectively with Two first crawl driving mechanisms are affixed, and the output end and the second driving wheel (72) of second driving device (71) are affixed, institute It states the second driving wheel (72) to be meshed with the second ratio wheel (73), second ratio wheel (73) is mutually nibbled with the second deflecting roller (74) It closes, second ratio wheel (73), the second deflecting roller (74) are meshed with two the second driven wheels (75) respectively.