CN208962025U - A kind of differential speed type under-driven adaptive finger apparatus - Google Patents
A kind of differential speed type under-driven adaptive finger apparatus Download PDFInfo
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- CN208962025U CN208962025U CN201821670478.5U CN201821670478U CN208962025U CN 208962025 U CN208962025 U CN 208962025U CN 201821670478 U CN201821670478 U CN 201821670478U CN 208962025 U CN208962025 U CN 208962025U
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- gear
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- bearing
- rack
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Abstract
The utility model discloses a kind of differential speed type under-driven adaptive finger apparatus, including rack, belt and spring, the both ends of the rack are fixedly connected to hydraulic stem, the output end of the hydraulic stem is fixedly connected with third knuckle, sliding rack is connected with by crossbearer between two third knuckles, the inner wall of the sliding rack is fixedly connected by spring with crossbearer, the side of the sliding rack is fixedly connected with baffle, the bottom of the sliding rack is fixedly connected with spur rack, and the bottom of the spur rack is engaged with first gear.The utility model cargo longer for body surface has the function of the flat clamping of row and self-adapting grasping, expand the crawl object range of robot, there is biggish benefit to industrial production and daily life, improve the applicability of manipulator, it solves most manipulators in the prior art to be difficult to clamp bag-shaped and plate class cargo, the problem of cargo clamps built on the sand, reduces manipulator applicability.
Description
Technical field
The utility model relates to manipulator technical field, specially a kind of differential speed type under-driven adaptive finger apparatus.
Background technique
Manipulator is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, manipulator are widely applied in automatic assembly line, and the development and production of robot have become in high-tech sector, fast
The emerging technology that speed grows up, it more promotes the development of manipulator, enable manipulator be better achieved with
The combination of mechanization and automation.Although manipulator is flexible like that not as good as manpower, it has can continuous repeated work
And labour, do not know fatigue, be fearless of danger, the strength of the snatch weight feature bigger than manpower power, therefore, manipulator is by many
The attention of department, and applied more and more widely.
Manipulator can imitate the function of certain movements of manpower and arm, to by fixed routine crawl, carry object or
The automatic pilot of operational instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest,
It can replace the heavy labor of people to realize the mechanization and automation of production, for bag-shaped and plate this kind of massive
Cargo, majority manipulator in the prior art are difficult to clamp bag-shaped and plate class cargo, and cargo clamps built on the sand, drop
The low applicability of manipulator, we provide a kind of differential speed type under-driven adaptive finger apparatus thus.
Utility model content
The purpose of this utility model is to provide a kind of differential speed type under-driven adaptive finger apparatus, and bag can be clamped by having
The advantages of shape and plate class cargo, solve most manipulator in the prior art be difficult to bag-shaped and plate class cargo into
The problem of row clamping, cargo clamps built on the sand, reduces manipulator applicability.
To achieve the above object, the utility model provides the following technical solutions: a kind of differential speed type under-driven adaptive finger
Device, including rack, belt and spring, the both ends of the rack are fixedly connected to hydraulic stem, the output end of the hydraulic stem
It is fixedly connected with third knuckle, sliding rack, the inner wall of the sliding rack is connected with by crossbearer between two third knuckles
It is fixedly connected by spring with crossbearer, the side of the sliding rack is fixedly connected with baffle, and the bottom of the sliding rack is fixed to be connected
It is connected to spur rack, the bottom of the spur rack is engaged with first gear, and the first gear is flexibly connected with third knuckle bearing,
The back side of the first gear is connected with second knuckle by bearing, and the surface of the first gear has been respectively fixedly connected with
No.1 cross bar and No. two cross bars, the No.1 cross bar are connected with the 5th gear, No. two crossbearers by bearing
Bar is connected with third gear by bearing, and the third knuckle is connected with the 4th gear by bearing, and the described 4th
Gear is sequentially connected with first knuckle by belt, and the first knuckle is referred to close to the side of second knuckle by bearing and second
Section is flexibly connected, and the second knuckle is fixedly connected with elastic component limited post, the elastic component limit far from the side of first gear
The surface of position column is arranged with elastic component, and the elastic component is adapted with first knuckle, and the second knuckle is far from first gear
Side is connected with second gear by bearing work.
Preferably, the second gear, third gear, the 4th gear and the 5th gear are conical gear, the third
Gear and the 5th gear are engaged with second gear, and the 4th gear is engaged with third gear and the 5th gear respectively.
Preferably, the output end of the hydraulic stem is fixedly connected with the surface of third knuckle by fixing piece.
Preferably, the second gear is fixedly connected with bearing inner race, and the second knuckle is fixedly connected with bearing outer ring.
Preferably, the third knuckle is fixedly connected with bearing inner circle, and the 4th gear is fixedly connected with bearing outer ring.
Preferably, the 5th gear is fixedly connected with bearing inner race, the No.1 cross bar and the fixed company of bearing outer ring
It connects.
Preferably, the third gear is fixedly connected with bearing inner race, and No. two cross bars are fixed with bearing outer ring
Connection.
Compared with prior art, the beneficial effects of the utility model are as follows:
1, the utility model passes through rack, hydraulic stem, first knuckle, second knuckle, elastic component limited post, elastic component, the
Three finger joints, belt, first gear, No.1 cross bar, No. two cross bars, second gear, third gear, the 4th gear, the 5th tooth
Wheel, sliding rack, spring, baffle and spur rack are cooperated, and are driven using hydraulic stem, and this kind of massive goods of bag cargo is suitble to
Object, it is compact-sized using drive lacking mode, bearing capacity is improved, using differential speed type adaptive structure, realizes first knuckle and the
Two finger joints can preferably firmly grasp article to the adaptive condition of body surface, and cargo longer for body surface has row flat
Clamping and self-adapting grasping function, expand the crawl object range of robot, have to industrial production and daily life larger
Benefit, improve the applicability of manipulator, solve most manipulator in the prior art and be difficult to bag-shaped and plate class
The problem of cargo is clamped, and cargo clamps built on the sand, reduces manipulator applicability.
2, the utility model can be supported sliding rack by setting spring, convenient for the transverse shifting of sliding rack, lead to
Setting baffle is crossed, baffle and object contact area are big, and goods clamping that can be more stable is convenient for by the way that No.1 cross bar is arranged
The 5th gear is installed by bearing, convenient for the rotation of the 5th gear, by the way that No. two cross bars are arranged, convenient for installing the by bearing
Three gears, convenient for the rotation of third gear, by the way that elastic component is arranged, convenient for the return of first knuckle.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is that the utility model mechanical finger is held with a firm grip structural schematic diagram；
Fig. 3 is the structural schematic diagram of the utility model manipulator joint part；
Fig. 4 is the utility model second knuckle structural schematic diagram；
Fig. 5 is the utility model No.1 cross bar and No. two cross bar structural schematic diagrams；
Fig. 6 is the mechanical finger adaptive structure schematic diagram of the utility model.
In figure: 1 rack, 2 hydraulic stems, 3 first knuckles, 4 second knuckles, 41 elastic component limited posts, 42 elastic components, 5 thirds
Finger joint, 6 belts, 7 first gears, 71 No.1 cross bars, 72 No. two cross bars, 8 second gears, 9 third gears, the 10th 4 tooth
Wheel, 11 the 5th gears, 12 sliding racks, 13 springs, 14 baffles, 15 spur racks.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1-6, a kind of differential speed type under-driven adaptive finger apparatus, including rack 1, belt 6 and spring 13, machine
The both ends of frame 1 are fixedly connected to hydraulic stem 2, and the output end of hydraulic stem 2 is fixedly connected with third knuckle 5, the output of hydraulic stem 2
End is fixedly connected with the surface of third knuckle 5 by fixing piece, is connected with sliding by crossbearer between two third knuckles 5
The inner wall of frame 12, sliding rack 12 is fixedly connected by spring 13 with crossbearer, and the side of sliding rack 12 is fixedly connected with baffle 14, is led to
Setting spring 13 is crossed, sliding rack 12 can be supported, convenient for the transverse shifting of sliding rack 12, by the way that baffle 14, gear is arranged
Plate 14 and object contact area are big, goods clamping that can be more stable, and the bottom of sliding rack 12 is fixedly connected with spur rack 15, directly
The bottom of rack gear 15 is engaged with first gear 7, and first gear 7 is flexibly connected with 5 bearing of third knuckle, the back side of first gear 7
It is connected with second knuckle 4 by bearing, the surface of first gear 7 has been respectively fixedly connected with No.1 cross bar 71 and No. two cross
Hack lever 72, No.1 cross bar 71 are connected with the 5th gear 11 by bearing, by the way that No.1 cross bar 71 is arranged, convenient for passing through
Bearing installs the 5th gear 11, and convenient for the rotation of the 5th gear 11, No. two cross bars 72 are connected with third tooth by bearing
Wheel 9, by the way that No. two cross bars 72 are arranged, convenient for installing third gear 9 by bearing, convenient for the rotation of third gear 9, third refers to
Section 5 is connected with the 4th gear 10 by bearing, and the 4th gear 10 is sequentially connected with first knuckle 3 by belt 6, and first refers to
Section 3 is flexibly connected by bearing with second knuckle 4 close to the side of second knuckle 4, second knuckle 4 far from first gear 7 one
Side is fixedly connected with elastic component limited post 41, and the surface of elastic component limited post 41 is arranged with elastic component 42, elastic component 42 and first
Finger joint 3 is adapted, by the way that elastic component 42 is arranged, convenient for the return of first knuckle 3, side of the second knuckle 4 far from first gear 7
It is connected with second gear 8 by bearing work, second gear 8, third gear 9, the 4th gear 10 and the 5th gear 11 are circular cone
Gear, third gear 9 and the 5th gear 11 are engaged with second gear 8, the 4th gear 10 respectively with third gear 9 and the 5th tooth
11 engagement of wheel, second gear 8 is fixedly connected with bearing inner race, and second knuckle 4 is fixedly connected with bearing outer ring, third knuckle 5 and
Bearing inner circle is fixedly connected, and the 4th gear 10 is fixedly connected with bearing outer ring, and the 5th gear 11 is fixedly connected with bearing inner race, and one
Number cross bar 71 is fixedly connected with bearing outer ring, and third gear 9 is fixedly connected with bearing inner race, No. two cross bars 72 and bearing
Outer ring is fixedly connected, and passes through rack 1, hydraulic stem 2, first knuckle 3, second knuckle 4, elastic component limited post 41, elastic component 42,
Three finger joints 5, belt 6, first gear 7, No.1 cross bar 71, No. two cross bars 72, second gear 8, third gear 9, the 4th teeth
The 10, the 5th gear 11 of wheel, sliding rack 12, spring 13, baffle 14 and spur rack 15 are cooperated, and are driven using hydraulic stem 2, are suitble to
This kind of massive cargo of bag cargo, it is compact-sized using drive lacking mode, bearing capacity is improved, it is adaptive using differential speed type
Structure is answered, realizes that first knuckle 3 and second knuckle 4 to the adaptive condition of body surface, can preferably firmly grasp article, for object
The longer cargo in body surface face has the function of the flat clamping of row and self-adapting grasping, expands the crawl object range of robot, right
Industrial production and daily life have biggish benefit, improve the applicability of manipulator, solve most machines in the prior art
The problem of tool hand is difficult to clamp bag-shaped and plate class cargo, and cargo clamps built on the sand, reduces manipulator applicability.
Drive the top of third knuckle 5 mobile in use, hydraulic stem 2 is shunk, third knuckle 5 drives first gear 7 to rotate
It is rotated with second knuckle 4, first gear 7 drives spur rack 15 mobile, and spur rack 15 drives baffle 14 mobile, passes through two baffles
14 it is close to each other object is clamped, when second knuckle 4 touch body surface it is mobile when, second knuckle 4 drives second gear 8
Rotation, second gear 8 drive third gear 9 and the 5th gear 11 to rotate respectively, and third gear 9 and the rotation of the 5th gear 11 drive
The rotation of 4th gear 10, the 4th gear 10 drive belt 6 to rotate, and belt 6 drives first knuckle 3 to rotate, and second gear 8 drives the
The rotation of two finger joints 4 realizes that first knuckle 3 adapts to body surface, realizes and firmly grasp object.
In summary: the differential speed type under-driven adaptive finger apparatus passes through rack 1, hydraulic stem 2, first knuckle 3,
71, No. two two finger joints 4, elastic component limited post 41, elastic component 42, third knuckle 5, belt 6, first gear 7, No.1 cross bar cross
Hack lever 72, second gear 8, third gear 9, the 4th gear 10, the 5th gear 11, sliding rack 12, spring 13, baffle 14 and straight-tooth
Item 15 is cooperated, and is solved most manipulators in the prior art and is difficult to clamp bag-shaped and plate class cargo, goods
The problem of object clamps built on the sand, reduces manipulator applicability.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (7)
1. a kind of differential speed type under-driven adaptive finger apparatus, including rack (1), belt (6) and spring (13), feature exists
In: the both ends of the rack (1) are fixedly connected to hydraulic stem (2), and the output end of the hydraulic stem (2) is fixedly connected with third
Finger joint (5) is connected with sliding rack (12) between two third knuckles (5), the inner wall of the sliding rack (12) by crossbearer
It is fixedly connected by spring (13) with crossbearer, the side of the sliding rack (12) is fixedly connected with baffle (14), the sliding rack
(12) bottom is fixedly connected with spur rack (15), and the bottom of the spur rack (15) is engaged with first gear (7), and described first
Gear (7) is flexibly connected with third knuckle (5) bearing, and the back side of the first gear (7) is connected with second by bearing
Finger joint (4), the surface of the first gear (7) have been respectively fixedly connected with No.1 cross bar (71) and No. two cross bars (72), institute
It states No.1 cross bar (71) and the 5th gear (11) is connected with by bearing, No. two cross bars (72) pass through bearing activity
It is connected with third gear (9), the third knuckle (5) is connected with the 4th gear (10), the 4th gear by bearing
(10) it is sequentially connected with first knuckle (3) by belt (6), the first knuckle (3) passes through close to the side of second knuckle (4)
Bearing is flexibly connected with second knuckle (4), and the second knuckle (4) is fixedly connected flexible far from the side of first gear (7)
The surface of part limited post (41), the elastic component limited post (41) is arranged with elastic component (42), the elastic component (42) and first
Finger joint (3) is adapted, and side of the second knuckle (4) far from first gear (7) is connected with second gear by bearing work
(8).
2. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: second tooth
Take turns (8), third gear (9), the 4th gear (10) and the 5th gear (11) are conical gear, the third gear (9) and the
Five gears (11) are engaged with second gear (8), the 4th gear (10) respectively with third gear (9) and the 5th gear (11)
Engagement.
3. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: the hydraulic stem
(2) output end is fixedly connected with the surface of third knuckle (5) by fixing piece.
4. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: second tooth
Wheel (8) is fixedly connected with bearing inner race, and the second knuckle (4) is fixedly connected with bearing outer ring.
5. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: the third refers to
Section (5) is fixedly connected with bearing inner circle, and the 4th gear (10) is fixedly connected with bearing outer ring.
6. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: the 5th tooth
Wheel (11) is fixedly connected with bearing inner race, and the No.1 cross bar (71) is fixedly connected with bearing outer ring.
7. a kind of differential speed type under-driven adaptive finger apparatus according to claim 1, it is characterised in that: the third tooth
Wheel (9) is fixedly connected with bearing inner race, and No. two cross bars (72) are fixedly connected with bearing outer ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821670478.5U CN208962025U (en) | 2018-10-16 | 2018-10-16 | A kind of differential speed type under-driven adaptive finger apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821670478.5U CN208962025U (en) | 2018-10-16 | 2018-10-16 | A kind of differential speed type under-driven adaptive finger apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208962025U true CN208962025U (en) | 2019-06-11 |
Family
ID=66759267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821670478.5U Expired - Fee Related CN208962025U (en) | 2018-10-16 | 2018-10-16 | A kind of differential speed type under-driven adaptive finger apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208962025U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN112171696A (en) * | 2020-05-22 | 2021-01-05 | 重庆工业职业技术学院 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
-
2018
- 2018-10-16 CN CN201821670478.5U patent/CN208962025U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696020A (en) * | 2019-09-05 | 2020-01-17 | 上海大学 | Self-adaptive underactuated manipulator |
| CN112171696A (en) * | 2020-05-22 | 2021-01-05 | 重庆工业职业技术学院 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
| CN112171696B (en) * | 2020-05-22 | 2021-07-23 | 重庆工业职业技术学院 | Mechanical automation formula snatchs structure, manipulator and manufacture equipment |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
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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: 20190611 Termination date: 20191016 |
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| CF01 | Termination of patent right due to non-payment of annual fee |