CN210282335U - Robot finger motion system - Google Patents
Robot finger motion system Download PDFInfo
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- CN210282335U CN210282335U CN201921202116.8U CN201921202116U CN210282335U CN 210282335 U CN210282335 U CN 210282335U CN 201921202116 U CN201921202116 U CN 201921202116U CN 210282335 U CN210282335 U CN 210282335U
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Abstract
The utility model relates to a robot finger motion system, which comprises a steering engine, a cable winding wheel, a cable sleeve head I, an adjusting nut, a cable sleeve head II, a cable sleeve fixing platform, an elastic pull rope, a thumb metacarpal bone, a thumb middle section bone, a thumb front end bone, a fingertip bone, a finger front end bone, a finger middle section bone, a lower arm framework, a motor linear push-pull rod, an upper arm framework, a boss and a palm frame, wherein the cable winding wheel is driven by the steering engine, the cable winding wheel winds the cable, the cable is tensioned to drive the finger middle section bone, the finger front section bone, the fingertip bone, the thumb metacarpal bone, the thumb middle section bone and the thumb front section bone are inwards or outwards rotated by a pin shaft, so that a palm is tightly held or stretched to grab an object or loosen the object, when the palm needs to rotate, the motor linear push-pull rod is started to drive the lead screw to drive the palm frame to rotate or return, the lead screw, sensitivity and emulation.
Description
Technical Field
The invention relates to a robot, in particular to a finger motion system of the robot.
Background
The popularization of the robot is more and more extensive along with the development of society, the robot is not only applied to the manufacturing industry, but also can be seen in the daily life of people, for example, a robot restaurant appeared before, basic services such as serving for the restaurant are completely completed by the robot, and a brand new sense is brought to people. The robot can exist in not only restaurants but also family lives, but also the family lives are not popular at present, but the robot is believed to be seen everywhere in our lives in the future and the requirement on the simulation degree of the robot is higher and higher.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a robot finger motion system.
In order to solve the technical problems, the invention provides the following technical scheme: the robot finger motion system comprises a steering engine 1401, a cable winding wheel 1402, a cable 1403, a cable sleeve head I1404, an adjusting nut 1405, a cable sleeve 1406, a cable sleeve head II1407, a cable sleeve fixing platform 1408, an elastic pull rope 1409, a thumb metacarpal bone 1410, a middle thumb bone 1411, a front thumb bone 1412, a finger tip bone 1413, a front finger bone 1414, a middle finger bone 1419, a lower arm framework 1426, a motor linear push-pull rod 1428, an upper arm framework 1429, a boss 1430 and a palm frame 1431, wherein the steering engine 1401 is fixedly arranged on the upper arm framework 1429, an output shaft of the steering engine 1401 is provided with the cable winding wheel 1402, the cable winding wheel 1402 is wound with the cable 1403, the cable 1403 is connected with the thumb metacarpal bone 1410, the middle thumb bone 1411, the front thumb bone 1412, the middle finger bone 1419, the front finger bone 1414 and the finger bone 1413, the middle section of the cable is respectively fixed on the boss 1430 and the cable sleeve fixing platform 1408, and the adjusting nut 1404 are arranged on the boss 1408, the cable sleeve fixing platform 1408 is provided with a cable sleeve head II1407, the boss 1430 is arranged on an upper arm framework 1429, the cable sleeve fixing platform 1408 is arranged on a lower arm framework 1426, the lower arm framework 1426 is fixedly hinged with a motor linear push-pull rod 1428, and a screw rod at the front end of the motor linear push-pull rod 1428 is hinged with a palm support 1431. The palm rest 1431 is movably hinged with a thumb metacarpal bone 1410 and a middle finger bone 1419, the thumb metacarpal bone 1410 is movably hinged with a middle thumb bone 1411, the middle thumb bone 1411 is movably hinged with a front thumb bone 1412, the middle finger bone 1419 is movably hinged with a front finger bone 1414, the front finger bone 1414 is movably hinged with a finger tip bone 1413, one end of the elastic pulling rope 1409 is fixed on the lower arm framework 1426, and the other end of the elastic pulling rope is connected with the thumb metacarpal bone 1410, the middle thumb bone 1411, the front thumb bone 1412, the middle finger bone 1419, the front finger bone 1414 and the finger tip bone 1413.
Preferably, the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, and the bending movement of the thumb is completed by tensioning the shaft pins through a pulling rope (1403) and taking the shaft pins as movable shafts.
Preferably, the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, and the thumb is straightened and returned by retracting the elastic pull rope (1409) with each shaft pin as a movable shaft.
Preferably, the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, a cable with one end connected with the cable winding wheel (1402) and the other end connected with the thumb metacarpal bone (1410) is tensioned, and the shaft pins of the thumb metacarpal bone (1410) and the palm frame (1431) are used as movable shafts to complete inward rotation movement of the thumb.
Preferably, the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, and the thumb returns outwards by taking the shaft pins of the thumb metacarpal bone (1410) and the palm frame (1431) as the moving shaft through retraction of an elastic pull rope with one end connected with the lower arm framework (1426) and the other end connected with the thumb metacarpal bone (1410).
Preferably, the middle finger bone (1419), the front finger bone (1414) and the finger tip bone (1413) are hinged with each other by pin shafts to form a finger, and the finger is tensioned by a pull rope (1403) and takes each pin shaft as a movable shaft to complete the bending movement of the finger.
Preferably, the middle finger bone (1419), the front finger bone (1414) and the finger tip bone (1413) are hinged with each other by pin shafts to form a finger, and the finger is straightened and returned by retracting the elastic pull rope (1409) by taking each pin shaft as a movable shaft.
Preferably, limited points are arranged on the thumb metacarpal bone (1410), the thumb middle bone (1411), the thumb front end bone (1412), the finger middle bone (1419), the finger front end bone (1414) and the finger tip bone (1413) to assist the fingers to straighten.
Preferably, the palm rest (1431), the thumb metacarpal bone (1410), the thumb middle section bone (1411), the thumb front end bone (1412), the finger middle section bone (1419), the finger front end bone (1414) and the fingertip bone (1413) through which the pulling rope (1403) and the elastic pulling rope (1409) pass are provided with grooves with proper sizes, the palm rest (1431) is connected with a rolling wheel III (1424), the finger middle section bone (1419) is provided with a rolling wheel II (1422), and the finger front end bone (1414) is provided with a rolling wheel I (1418).
The invention has the following beneficial effects: through setting up such robot finger motion system, can realize the nimble bending of robot finger, snatch, make a fist and stretch the palm, improved the action speed, sensitivity and the fidelity of robot finger greatly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic diagram of the structures of middle finger bone, front finger bone and fingertip bone according to the present invention;
FIG. 4 is a schematic view of the palm rest structure of the present invention;
FIG. 5 is a schematic view of the structures of the metacarpal bones of the thumb, the middle bones of the thumb and the anterior bones of the thumb according to the present invention;
FIG. 6 is a schematic view of the installation structure of the palm rest, the middle finger bone, the front finger bone and the finger tip bone;
FIG. 7 is a schematic view of the structure of a steering engine and a cable winding wheel of the present invention.
1401. A steering engine; 1402. a cable winding wheel; 1403. a cable; 1404. a cable loop head; 1405. adjusting the nut; 1406. a cable cover; 1407. a cable loop head; 1408 cable cover fixing station; 1409. an elastic pull rope; 1410. the metacarpal bone of the thumb; 1411. the middle bone of the thumb; 1412. the front bone of the thumb; 1413. a fingertip bone; 1414. a finger anterior bone; 1415. a pin shaft I; 1416. a pin shaft II; 1417. a pin shaft III; 1418 rolling wheel I; 1419 middle phalanx of the finger; 1420 pin shaft IV; 1421 pin V; 1422 rolling wheel II; 1423 pin VI; 1424 rolling wheel III; 1425 Pin VII; 1426 lower arm skeleton; 1427 pin VIII; 1428 linear push-pull rod of motor; 1429 upper arm skeleton; 1430 boss; 1431 palm rest.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1-7: the robot finger motion system comprises a steering engine 1401 fixedly arranged on an upper arm framework 1429, an output shaft of the steering engine 1401 is provided with a cable winding wheel 1402, a cable 1403 is wound on the cable winding wheel 1402, the cable 1403 is connected to a thumb metacarpal bone 1410, a middle thumb bone 1411, a front thumb bone 1412, a middle finger bone 1419, a front finger bone 1414 and a fingertip bone 1413, the middle section of the cable 1403 is respectively fixed on a boss 1430 of the upper arm framework 1429 and a cable sleeve fixing table 1408 of a lower arm framework 1426, a cable sleeve head I1404 and an adjusting nut 1405 are arranged on the boss 1430, a cable sleeve head II1407 is arranged on the cable sleeve fixing table 1408, a motor linear push-pull rod 1428 is fixedly hinged on the lower arm framework 1426, a lead screw rod at the front end of the motor linear push-pull rod 1428 is hinged on a palm frame 1431 through a pin shaft VIII1427, the palm frame 1431 is movably hinged with the metacarpal bone 1410 through a pin shaft and hinged with the middle finger middle, the thumb metacarpal bone 1410 is movably hinged with a middle thumb bone 1411 through a pin shaft, the middle thumb bone 1411 is movably hinged with a front thumb bone 1412 through a pin shaft, the middle finger bone 1419 is movably hinged with a middle finger bone 1414 through a pin shaft II, the front finger bone 1414 is movably hinged with a finger tip bone 1413 through a pin shaft I, one end of the elastic pull rope 1409 is fixed on a lower arm framework 1426, the other end of the elastic pull rope is connected with the thumb metacarpal bone 1410, the middle thumb bone 1411, the front thumb bone 1412, the middle finger bone 1419, the front finger bone 1414 and the finger tip bone 1413, a rolling wheel III1424 is arranged at the palm framework 1431 through a pin shaft VI1423, a rolling wheel II1422 is arranged at the middle finger bone 1419 through a pin shaft 142V 1, a rolling wheel I1418 is arranged at the front finger bone 1414 through a pin shaft III1417 to roll the pull rope 1403 and the elastic pull rope 1409 on the palm framework 1421, and the lower arm framework 1426.
The working principle is as follows: when the fingers of the robot move, the steering engine starts to rotate the guy cable winding wheel, the guy cable winding wheel starts to wind the guy cable, the guy cable is fixed on the lug boss and the lasso fixing frame, when the guy cable is tensioned, the guy cable which is formed by mutually hinging a thumb metacarpal bone, a thumb middle section bone and a thumb front end bone by using a shaft pin is tensioned by the guy cable of which one end is connected with the guy cable winding wheel and the other end is connected with the thumb metacarpal bone, the inward rotating motion of the thumb is completed by using the shaft pin of the thumb metacarpal bone and the shaft pin of the palm frame as a movable shaft, the bending motion of the thumb is completed by mutually hinging the guy cable of which one end is connected with the guy cable winding wheel and the other end is connected with the thumb front end bone by using each shaft pin as a movable shaft pin, the fingers are formed by mutually hinging the finger middle section bone, the finger front end bone and the finger tip bone by, so the fingers of the robot can move independently like the fingers of the human body, and can realize the grabbing and other effects of the fingers of the robot on objects, when the robot is loosened, the steering engine is reversely started, the guy cable winding wheel is reversely rotated, the guy cable winding wheel loosens the guy cable, at the moment, the elastic guy cable helps the metacarpal bones of the thumb, the middle bone of the thumb, the front bone of the thumb, the middle bone of the finger, the front bone of the front section of the finger and the finger tip bone to return due to the elastic return force, in order to avoid the return passing, a boss is arranged on the metacarpal bones of the thumb at the hinged part of the palm frame and the metacarpal bones of the thumb, a boss is arranged on the middle bone of the thumb at the hinged part of the metacarpal bones of the thumb and the finger, a boss is arranged on the middle bone of the finger at the hinged part of the middle bone of the thumb and the finger tip bone, a boss is arranged on the front bone, be equipped with the boss on the finger tip bone of finger front end bone and the articulated department of finger tip bone and carry on spacingly, when the robot wrist will rotate, motor straight line push-and-pull rod starts, the inward shrink of lead screw inwards stimulates the palm frame, make the palm inwards rotate to the position of needs, motor straight line push-and-pull rod reverse start when needing to straighten, the lead screw outwards extends and promotes the palm frame, make palm frame return or to the position of needs, the action speed that the robot pointed has improved greatly, sensitivity and fidelity, it is inside in order to have sufficient space to set up the steering wheel in the upper arm, make the robot arm more lifelike, cable and cable cover can bend together when the arm is bent, but do not influence the motion of finger.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The robot finger motion system is characterized in that the steering engine (1401) is fixedly arranged on an upper arm framework (1429), the output shaft of the steering engine (1401) is provided with the cable winding wheel (1402), the cable winding wheel (1402) is wound on the cable winding wheel (1402), the cable (1403) is connected to the thumb metacarpal bone (1403), the cable sleeve head I (1404), the adjusting nut (1405), the cable sleeve (1406), the cable sleeve head II (1407), the cable sleeve fixing table (1408), the elastic pull rope (1409), the thumb metacarpal bone (1410), the thumb middle-section bone (1411), the thumb front-end bone (1412), the fingertip bone (1413), the finger front-end bone (1414), the finger middle-section bone (1419), the lower arm framework (1426), the motor linear push-pull rod (1428), the upper arm framework (1429), the boss (1430) and the palm framework (1431) The middle thumb bone (1411), the front thumb bone (1412), the middle finger bone (1419), the front finger bone (1414) and the finger bone (1413), the middle section of the cable (1403) is respectively fixed on a boss (1430) and a cable sleeve fixing platform (1408), the boss (1430) is provided with a cable sleeve head I (1404) and an adjusting nut (1405), the cable sleeve fixing platform (1408) is provided with a cable sleeve head II (1407), the boss (1430) is arranged on an upper arm framework (1429), the cable sleeve fixing platform (1408) is arranged on a lower arm framework (1426), the lower arm framework (1426) is fixedly hinged with a motor linear push-pull rod (1428), the front end wire rod of the motor linear push-pull rod (1428) is hinged with a palm frame (1431), the palm frame (1431) is movably hinged with a palm bone (1410) and the middle finger bone (1419), the thumb bone (1410) is hinged with the middle thumb bone (1411), the middle thumb bone (1411) is movably hinged with a front thumb bone (1412), the middle finger bone (1419) is movably hinged with a front finger bone (1414), the front finger bone (1414) is movably hinged with a finger tip bone (1413), one end of the elastic pull rope (1409) is fixed on the lower arm framework (1426), and the other end of the elastic pull rope is connected with the thumb metacarpal bone (1410), the middle thumb bone (1411), the front thumb bone (1412), the middle finger bone (1419), the front finger bone (1414) and the finger tip bone (1413).
2. The robotic finger movement system according to claim 1, wherein: the thumb metacarpal bone (1410), the middle thumb bone (1411) and the front thumb bone (1412) are hinged with each other through shaft pins to form a thumb, and the bending movement of the thumb is completed by tensioning through a pull rope (1403) and taking each shaft pin as a movable shaft.
3. The robotic finger movement system according to claim 1, wherein: the thumb metacarpal bone (1410), the middle thumb bone (1411) and the front thumb bone (1412) are hinged with each other through shaft pins to form a thumb, and the thumb is straightened and returned by retracting the elastic pull rope (1409) and taking each shaft pin as a movable shaft.
4. The robotic finger movement system according to claim 1, wherein: the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, a guy cable with one end connected with the guy cable winding wheel (1402) and the other end connected with the thumb metacarpal bone (1410) is tensioned, and the shaft pins of the thumb metacarpal bone (1410) and the palm frame (1431) are used as movable shafts to complete inward rotation movement of the thumb.
5. The robotic finger movement system according to claim 1, wherein: the thumb metacarpal bone (1410), the thumb middle bone (1411) and the thumb front end bone (1412) are hinged with each other through shaft pins to form a thumb, and the thumb returns outwards by taking the shaft pins of the thumb metacarpal bone (1410) and the palm frame (1431) as the moving shaft through retraction of an elastic pull rope with one end connected with the lower arm framework (1426) and the other end connected with the thumb metacarpal bone (1410).
6. The robotic finger movement system according to claim 1, wherein: the middle finger segment bone (1419), the front finger end bone (1414) and the finger tip bone (1413) are hinged with each other through pin shafts to form a finger, and the finger bending motion is completed by tensioning through a pull rope (1403) and taking each pin shaft as a movable shaft.
7. The robotic finger movement system according to claim 1, wherein: the middle finger segment bone (1419), the front finger end bone (1414) and the finger tip bone (1413) are hinged with each other through pin shafts to form fingers, and the fingers are straightened and returned by retracting through the elastic pull rope (1409) and taking each pin shaft as a movable shaft.
8. The robotic finger movement system according to claim 1, wherein: the pull cable (1403) is wound on a pull cable winding wheel, and the other end of the pull cable is connected with a bone (1413), a metacarpal bone (1410) of the thumb and a front end bone (1412) of the thumb respectively; one end of the elastic pull rope (1409) is fixed on the lower arm framework (1426), and the other end is fixed on the fingertip bone (1413) and the thumb front end bone (1412).
9. The robotic finger movement system according to claim 1, wherein: limited points are arranged on the thumb metacarpal bone (1410), the thumb middle bone (1411), the thumb front end bone (1412), the finger middle bone (1419), the finger front end bone (1414) and the finger tip bone (1413) to assist the fingers to straighten.
10. The robotic finger movement system according to claim 1, wherein: the palm frame (1431) that cable (1403) and elasticity stay cord (1409) pass through, thumb metacarpal bone (1410), thumb middle segment bone (1411), thumb front end bone (1412), finger middle segment bone (1419), finger front end bone (1414) and fingertip bone (1413) all are equipped with the suitable size groove and connect thumb metacarpal bone (1410) department and be equipped with rolling wheel III (1424), finger middle segment bone (1419) department is equipped with rolling wheel II (1422), finger front end bone (1414) department is equipped with rolling wheel I (1418).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921202116.8U CN210282335U (en) | 2019-07-29 | 2019-07-29 | Robot finger motion system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921202116.8U CN210282335U (en) | 2019-07-29 | 2019-07-29 | Robot finger motion system |
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| Publication Number | Publication Date |
|---|---|
| CN210282335U true CN210282335U (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921202116.8U Expired - Fee Related CN210282335U (en) | 2019-07-29 | 2019-07-29 | Robot finger motion system |
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| CN (1) | CN210282335U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271026A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot finger's kinematic system |
-
2019
- 2019-07-29 CN CN201921202116.8U patent/CN210282335U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271026A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot finger's kinematic system |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200410 Termination date: 20200729 |