CN211250067U - Mechanical finger - Google Patents
Mechanical finger Download PDFInfo
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- CN211250067U CN211250067U CN201922008124.5U CN201922008124U CN211250067U CN 211250067 U CN211250067 U CN 211250067U CN 201922008124 U CN201922008124 U CN 201922008124U CN 211250067 U CN211250067 U CN 211250067U
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Abstract
The application provides a mechanical finger, including pointing the root base, setting up the finger body on pointing the root base and setting up the controlling means who controls finger body extension and crooked in this internal finger. The application discloses a mechanical finger, elasticity clamping part mounting outside is equipped with the elasticity rubber layer, the elasticity rubber layer can be according to the concrete shape of centre gripping object and produce the deformation, mechanical finger's range of application has been improved greatly, simultaneously, the elasticity rubber layer has improved the area of contact between the object of elasticity clamping part and different shapes greatly, reduce the gap between elasticity clamping part and the centre gripping object, thereby the frictional force of elasticity clamping part to the centre gripping object has been improved greatly, make elasticity clamping part to the centre gripping object stability higher.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to a mechanical finger.
Background
The manipulator for the robot is an actuating mechanism, is usually required to be designed independently aiming at different clamped objects, belongs to a non-standard design part, and has high cost, large workload and low efficiency if a special manipulator is designed for each object due to the irregularity of natural and artificial object structures.
Disclosure of Invention
The present application provides a mechanical finger to solve the above technical problems.
The technical scheme adopted by the application is as follows: the mechanical finger is characterized by comprising a finger base, a finger body arranged on the finger base and a control device arranged in the finger body and used for controlling the extension and bending of the finger body;
the finger body comprises a near finger end part fixedly connected with the finger base, a far finger end part hinged to one end of the near finger end part far away from the finger base and an elastic clamping part arranged at the free end of the far finger end part; the elastic clamping part comprises a fixing part connected with the free end of the far finger end part and an elastic rubber layer sleeved on the outer side of the fixing part.
Furthermore, the near finger end part comprises a near finger shell fixed on the finger base and a first isosceles triangular support frame arranged in the near finger shell and the vertex of the first isosceles triangular support frame is fixed on the finger base, the first isosceles triangular support frame comprises an upper triangular support and extension shafts arranged at the left end and the right end of the bottom edge of the upper triangular support, and the extension shafts penetrate through the side wall of the near finger shell;
the far finger end comprises a far finger shell and a second isosceles triangular support frame which is arranged in the far finger shell and hinged to the middle of the bottom edge of the upper triangular support frame through a vertex, the far finger shell is hinged to an extension shaft on the outer side of the near finger shell, the plane of the second isosceles triangular support frame is perpendicular to the plane of the upper triangular support frame, the second isosceles triangular support frame comprises a lower triangular support frame, a fixing shaft and extension rods, the fixing shaft is arranged at the front end point and the rear end point of the bottom edge of the lower triangular support frame and perpendicular to the plane of the lower triangular support frame, the extension rods are arranged at the two ends of the bottom edge of the lower triangular support frame, and the bottom edge of the lower triangular support frame is connected;
the control device comprises a driving device and an elastic connecting piece which are symmetrically arranged on the left side and the right side of the upper triangular support and fixed on the finger base, a first pulley arranged on an extension shaft on one side of the driving device, a second pulley arranged on an extension shaft on one side of the elastic connecting piece, a third pulley and a fourth pulley which are respectively arranged on a front end point and a rear end point fixed shaft on the bottom side of the lower triangular support, and a pull rope, one end of which is connected with the driving device, and the other end of which sequentially passes through the first pulley, the third pulley, the fourth pulley and the second pulley and is connected with the elastic connecting piece.
Furthermore, a reset auxiliary device is arranged between the upper triangular support and the lower triangular support and comprises an auxiliary rod arranged between the top point of the upper triangular support and the middle point of the bottom edge and a reset spring arranged between the auxiliary rod and the waist rod in the front of the lower triangular support.
Further, the driving device is a driving air cylinder.
Furthermore, a plurality of irregular grooves are formed in the outer side of the elastic rubber layer.
Further, the fixing piece comprises an arc-shaped base plate and an elastic air bag arranged on the inner side of the arc-shaped base plate.
The application has the advantages and positive effects that: the application discloses a mechanical finger, elasticity clamping part mounting outside is equipped with the elasticity rubber layer, the elasticity rubber layer can be according to the concrete shape of centre gripping object and produce the deformation, mechanical finger's range of application has been improved greatly, simultaneously, the elasticity rubber layer has improved the area of contact between the object of elasticity clamping part and different shapes greatly, reduce the gap between elasticity clamping part and the centre gripping object, thereby the frictional force of elasticity clamping part to the centre gripping object has been improved greatly, make elasticity clamping part to the centre gripping object stability higher.
In addition to the technical problems addressed by the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical finger provided in the present application;
FIG. 2 is a side view of a robot finger provided by the present application;
FIG. 3 is a schematic structural view of an elastic clamping portion provided in an embodiment of the present application;
FIG. 4 is a schematic view of a proximal end structure provided in an embodiment of the present application;
FIG. 5 is a schematic view of a distal finger tip structure provided in an embodiment of the present application;
FIG. 6 is a schematic structural view of a second isosceles triangular support frame provided in the embodiments of the present application;
FIG. 7 is a schematic structural diagram of a control device provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a reposition assisting apparatus provided in an embodiment of the present application;
FIG. 9 is a schematic diagram of an irregular groove structure provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of a fixing element provided in an embodiment of the present application.
In the figure: 1 indicates a base; 2, a finger body; 210 proximal to the tip; 211 proximal to the finger shell; 212a first isosceles triangular support; 212a triangular bracket; 212b an extension shaft; 220 distal to the finger end; 221 distal finger shell; 222 second isosceles triangular support; 222a lower triangular bracket; 222b a fixed shaft; 222c extending the rods; 230 an elastic clamping part; 231a fixing member; 231a curved substrate; 231b an elastic bladder; 232 an elastic rubber layer; 3 a control device; 310 a drive device; 320 an elastic connector; 330 a first pulley; 340 a second pulley; 350 a third pulley; 360 a fourth pulley; 370 pulling a rope; 4, resetting the auxiliary device; 410 an auxiliary lever; 420 a return spring; 5 irregular groove
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, fig. 2 and fig. 3, the mechanical finger is characterized by comprising a finger base 1, a finger body 2 arranged on the finger base 1 and a control device 3 arranged in the finger body 2 and used for controlling the extension and bending of the finger body 2;
the finger body 2 comprises a proximal finger end part 210 fixedly connected with the finger base 1, a distal finger end part 220 hinged at one end of the proximal finger end part 210 far away from the finger base 1 and an elastic clamping part 230 arranged at the free end of the distal finger end part 220; the elastic clamping portion 230 includes a fixing member 231 connected to the free end of the distal end portion 220 and an elastic rubber layer 232 fitted around the outside of the fixing member 231.
In this embodiment, the finger base 1 is a fixing component of the finger body 2, the control device 3 is a driving device 310 of the finger body 2, and the finger body 2 is controlled to stretch and bend according to the object to be picked and placed, in this embodiment, the finger body 2 is provided with a proximal end 210, a distal end 220 and an elastic clamping portion 230, the proximal end 210 is fixed on the finger base 1, the distal end 220 is hinged to one end of the proximal end 210 away from the base plate of the finger base, the elastic clamping portion 230 is arranged at the free end of the distal end 220, the elastic clamping portion 230 includes a fixing member 231 and an elastic rubber layer 232, the fixing member 231 is arranged at the fixing member 231 at the free end of the distal end 220, the elastic rubber layer 232 is sleeved outside the fixing member 231, in this embodiment, the elastic rubber layer 232 can deform according to the specific shape of the object to be clamped, so as to greatly improve the application range, the elastic rubber layer greatly improves the contact area between the elastic clamping part 230 and objects in different shapes, and reduces the gap between the elastic clamping part 230 and the clamped object, thereby greatly improving the friction force of the elastic clamping part 230 to the clamped object and ensuring that the stability of the elastic clamping part 230 to the clamped object is higher.
As shown in fig. 4, 5, 6 and 7, in a preferred embodiment, the proximal end portion 210 includes a proximal housing 211 fixed to the base 1 and a first isosceles triangular support 212 disposed inside the proximal housing 211 and having an apex fixed to the base 1, the first isosceles triangular support 212 includes an upper triangular bracket 212a and extension shafts 212b disposed at left and right ends of a bottom side of the upper triangular bracket 212a, and the extension shafts 212b penetrate through a side wall of the proximal housing 211;
the distal finger end part 220 comprises a distal finger shell 221 and a second isosceles triangular support 222 which is arranged in the distal finger shell 221 and is hinged to the middle part of the bottom edge of the upper triangular bracket 212a through a vertex, the distal finger shell 221 is hinged to an extension shaft 212b on the outer side of the proximal finger shell 211, the plane of the second isosceles triangular support 222 is vertical to the plane of the upper triangular bracket 212a, the second isosceles triangular support 222 comprises a lower triangular bracket 222a, a fixed shaft 222b which is arranged at the front end point and the rear end point of the bottom edge of the lower triangular bracket 222a and is vertical to the plane of the lower triangular bracket 222a and extension rods 222c which are arranged at the two ends of the bottom edge of the lower triangular bracket 222a, and the bottom edge of the lower triangular bracket 222a is connected with the side wall of the distal finger shell 221 through the extension rods 222;
the control device 3 comprises a driving device 310 and an elastic connecting piece 320 which are symmetrically arranged at the left side and the right side of the upper triangular bracket 212a and fixed on the finger base 1, a first pulley 330 arranged on an extending shaft 212b at one side of the driving device 310, a second pulley 340 arranged on an extending shaft 212b at one side of the elastic connecting piece 320, a third pulley 350 and a fourth pulley 360 which are respectively arranged on a fixed shaft 222b at the front end and the rear end of the bottom edge of the lower triangular bracket 222a, and a pull rope 370 which has one end connected with the driving device 310, and one end sequentially passes through the first pulley 330, the third pulley 350, the fourth pulley 360 and the second pulley 340 and is connected with the elastic connecting piece 320.
In this embodiment, the proximal end portion 210 is provided with a proximal shell 211 and a first isosceles triangular support 212, the proximal shell 211 is a protective shell of the proximal end portion 210, one end of the proximal shell 211 is fixed on the finger base 1, the first isosceles triangular support 212 is disposed in the proximal shell 211, and the first isosceles triangular support 212 is vertically fixed on the finger base 1 through a vertex, in this embodiment, the first isosceles triangular support 212 includes an upper triangular support 212a and extension shafts 212b disposed at the left and right ends of the bottom edge of the upper triangular support 212a, the extension shafts 212b penetrate through the side wall of the proximal shell 211, and the proximal shell 211 and the first isosceles triangular support 212 are matched, so that the structural stability of the proximal end portion 210 and the capability of the proximal end portion 210 for supporting objects are greatly improved.
In this embodiment, the distal end portion 220 is a movable part of the finger body 2, the distal end portion 220 is provided with a distal finger shell 221 and a second isosceles triangular support 222, one end of the distal finger shell 221 is hinged to the extending shaft 212b outside the proximal finger shell 211, the second isosceles triangular support 222 is arranged in the distal finger shell 221, in this embodiment, the vertex of the second isosceles triangular support 222 is hinged to the middle of the bottom side of the upper triangular support, and the plane of the second isosceles triangular support 222 is perpendicular to the plane of the upper triangular support 212a, in this embodiment, the second isosceles triangular support 222 includes a lower triangular support 222a, a fixing shaft 222b and an extending rod 222c, the front and rear end points of the bottom side of the lower triangular support 222a are both provided with fixing shafts 222b, the fixing shafts 222b are located on the same side of the lower triangular support 222a and perpendicular to the plane of the lower triangular support 222a, extension rods 222c are arranged at two ends of the bottom edge of the lower triangular support 222a, and the bottom edge of the lower triangular support 222a is connected with the side wall of the far finger shell 221 through the extension rods 222 c.
In this embodiment, the control device 3 is a power structure of the finger body 2, and includes a driving device 310, an elastic connection member 320, a first pulley 330, a second pulley 340, a third pulley 350, a fourth pulley 360 and a pull rope 370, the driving device 310 and the elastic connection member 320, and the upper triangular bracket 212a are located on the same plane, the driving device 310 and the elastic connection member 320 are symmetrically disposed on the left and right sides of the upper triangular bracket 212a, the first pulley 330 is disposed on the extending shaft 212b below the driving device 310, the second pulley 340 is disposed on the extending shaft 212b below the elastic connection member 320, the third pulley 350 and the fourth pulley 360 are respectively disposed on the front and rear end fixing shafts 222b at the bottom edge of the lower triangular bracket 222a, in this embodiment, one end of the pull rope 370 is connected to the driving device 310, and the other end sequentially passes through the first pulley 330, the third pulley 350, the fourth pulley 360 and the second pulley 340 and is connected to the elastic connection member 320, in this embodiment, elastic connection piece 320 is the connection spring, in operation, can stimulate stay cord 370 through drive arrangement 310, the distal tip 220 of pointing body 2 upwards moves under the pulling effect of stay cord 370, and then the realization is snatched the centre gripping of object, when drive arrangement 310 resets, stay cord 370 resets fast under the effect of connection spring, and then drives distal tip 220 and resets, the connection spring cooperatees with drive arrangement 310, it resets fast to be convenient for distal tip 220, the efficiency of grabbing the object with the mechanical finger has been improved greatly.
In a preferred embodiment, as shown in fig. 8, a return auxiliary device 4 is disposed between the upper triangular bracket 212a and the lower triangular bracket, and the return auxiliary device 4 comprises an auxiliary rod 410 disposed between the vertex and the bottom midpoint of the upper triangular bracket 212a and a return spring 420 disposed between the auxiliary rod 410 and the front lumbar rod of the lower triangular bracket 222 a.
In this embodiment, the auxiliary reset device 4 is disposed between the upper triangular bracket 212a and the lower triangular bracket 222a, and the auxiliary reset device 4 cooperates with the connecting spring and the driving device 310 to further improve the efficiency of the mechanical fingers in grasping and placing objects.
In a preferred embodiment, the driving device 310 is a driving cylinder.
In a preferred embodiment, as shown in fig. 9, a plurality of irregular grooves 5 are formed on the outer side of the elastic rubber layer 232. In this embodiment, the elastic rubber layer 232 outside is equipped with many irregular grooves 5, and irregular groove 5 has improved the frictional force between elastic rubber layer 232 and the centre gripping object greatly, and simultaneously, the irregular groove 5 of elastic rubber layer 232 and the object surface easily form vacuum adsorption, further improve the ability of mechanical finger centre gripping object.
As shown in fig. 10, in a preferred embodiment, the fixing member 231 includes an arc-shaped base plate 231a and an elastic bladder 231b disposed inside the arc-shaped base plate 231 a. In this embodiment, the fixing frame includes an arc-shaped base plate 231a and an elastic air bag 231b, the arc-shaped base plate 231a is a supporting framework, the elastic air bag 231b is disposed in the arc-shaped base plate 231a, the elastic rubber layer 232 is sleeved on the outer side of the fixing member 231, and the elastic rubber layer 232 is matched with the elastic air bag 231b, so that the deformation capability of the elastic clamping portion 230 when clamping objects is further improved, and the capability of the elastic clamping portion 230 for clamping objects of different shapes is greatly improved.
The embodiments of the present application have been described in detail, but the description is only for the preferred embodiments of the present application and should not be construed as limiting the scope of the application. All equivalent changes and modifications made within the scope of the present application shall fall within the scope of the present application.
Claims (6)
1. The mechanical finger is characterized by comprising a finger base (1), a finger body (2) arranged on the finger base (1) and a control device (3) which is arranged in the finger body (2) and used for controlling the extension and bending of the finger body (2);
the finger body (2) comprises a near finger end part (210) fixedly connected with the finger base (1), a far finger end part (220) hinged to one end of the near finger end part (210) far away from the finger base (1), and an elastic clamping part (230) arranged at the free end of the far finger end part (220); the elastic clamping part (230) comprises a fixing piece (231) connected with the free end of the far finger end part (220) and an elastic rubber layer (232) sleeved on the outer side of the fixing piece (231).
2. The mechanical finger as claimed in claim 1, wherein the proximal end portion (210) comprises a proximal finger shell (211) fixed on the base (1) of the finger base and a first isosceles triangular support (212) arranged in the proximal finger shell (211) and having an apex fixed on the base (1), the first isosceles triangular support (212) comprises an upper triangular bracket (212a) and extension shafts (212b) arranged at the left and right ends of the bottom edge of the upper triangular bracket (212a), and the extension shafts (212b) penetrate through the side wall of the proximal finger shell (211);
the far finger end part (220) comprises a far finger shell (221) and a second isosceles triangular support frame (222) which is arranged in the far finger shell (221) and is hinged in the middle of the bottom edge of the upper triangular support (212a) through the vertex, the far finger shell (221) is hinged on an extension shaft (212b) at the outer side of the near finger shell (211), the plane of the second isosceles triangular support frame (222) is vertical to the plane of the upper triangular support frame (212a), the second isosceles triangular support frame (222) comprises a lower triangular support (222a), a fixed shaft (222b) which is arranged at the front end point and the rear end point of the bottom edge of the lower triangular support (222a) and is vertical to the plane of the lower triangular support (222a), and extension rods (222c) which are arranged at the two ends of the bottom edge of the lower triangular support (222a), the bottom edge of the lower triangular bracket (222a) is connected with the side wall of the far finger shell (221) through an extension rod (222 c);
the control device (3) comprises a driving device (310) and an elastic connecting piece (320) which are symmetrically arranged on the left side and the right side of an upper triangular support (212a) and fixed on a finger base (1), a first pulley (330) arranged on an extending shaft (212b) on one side of the driving device (310), a second pulley (340) arranged on an extending shaft (212b) on one side of the elastic connecting piece (320), a third pulley (350) and a fourth pulley (360) which are respectively arranged on a fixed shaft (222b) at the front end point and the rear end point of the bottom edge of the lower triangular support (222a), and a pull rope (370) of which one end is connected with the driving device (310) and the other end sequentially penetrates through the first pulley (330), the third pulley (350), the fourth pulley (360) and the second pulley (340) and is connected with the elastic connecting piece (320).
3. The mechanical finger as claimed in claim 2, wherein a return auxiliary device (4) is provided between the upper triangular bracket (212a) and the lower triangular bracket (222a), and the return auxiliary device (4) comprises an auxiliary rod (410) provided between the vertex of the upper triangular bracket (212a) and the midpoint of the bottom side and a return spring (420) provided between the auxiliary rod (410) and the front waist rod of the lower triangular bracket (222 a).
4. A robot finger as claimed in claim 3, characterised in that said actuating means (310) is an actuating cylinder.
5. The mechanical finger as claimed in claim 4, wherein a plurality of irregular grooves (5) are formed on the outer side of the elastic rubber layer (232).
6. The mechanical finger as recited in claim 5, wherein the fixing member (231) includes an arc-shaped base plate (231a) and an elastic air bag (231b) disposed inside the arc-shaped base plate (231 a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922008124.5U CN211250067U (en) | 2019-11-20 | 2019-11-20 | Mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922008124.5U CN211250067U (en) | 2019-11-20 | 2019-11-20 | Mechanical finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211250067U true CN211250067U (en) | 2020-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922008124.5U Active CN211250067U (en) | 2019-11-20 | 2019-11-20 | Mechanical finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211250067U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2606130A (en) * | 2021-03-11 | 2022-11-02 | Hugo Elias John | A fingertip for a robot hand |
-
2019
- 2019-11-20 CN CN201922008124.5U patent/CN211250067U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2606130A (en) * | 2021-03-11 | 2022-11-02 | Hugo Elias John | A fingertip for a robot hand |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230801 Address after: Room 326, Building 8, No. 351, Sizhuan Road, Sijing Town, Songjiang District, Shanghai, 200000 Patentee after: Shanghai Wujiao Technology Co.,Ltd. Address before: Room 1303-1, 13 / F, block C, Saida Xinxing Industrial Park, Xiqing Economic and Technological Development Zone, Tianjin 300380 Patentee before: Anbeihe (Tianjin) Energy Technology Co.,Ltd. |
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