CN212825438U - Simulation robot hand - Google Patents
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- CN212825438U CN212825438U CN202021170175.4U CN202021170175U CN212825438U CN 212825438 U CN212825438 U CN 212825438U CN 202021170175 U CN202021170175 U CN 202021170175U CN 212825438 U CN212825438 U CN 212825438U
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Abstract
The utility model provides a simulation robot hand, which comprises an arm, a palm, a driving system and five fingers; the finger comprises a first finger section, a second finger section and a third finger section; two ends of the second finger section are respectively and rotatably connected with one end of the first finger section and one end of the third finger section; the other end of the third finger section is rotatably connected with one end of the palm; the other end of the palm is rotatably connected with one end of the arm; the driving system is used for driving the palm to rotate up and down and the fingers to complete bending and straightening actions respectively. The characteristics of human fingers are simulated by sequentially rotating and connecting the three finger sections, the finger joint movement of the human fingers is simulated by rotating and connecting the three finger sections, and the palm is driven by a driving system to rotate up and down and the fingers finish bending and straightening actions. The utility model discloses the gesture of the human hand of simulation that can high emulation for the robot hand has the same flexibility ratio with human hand.
Description
Technical Field
The utility model relates to a robot manufacturing technical field especially relates to an emulation machine staff.
Background
The robot paw is one of the key parts of the robot, which is the last link and the execution part of the interaction between the robot and the environment, and the performance quality of the robot paw determines the working performance of the whole robot to a great extent. The simulated robot hand has the same flexibility as the human hand and can execute some special grabbing actions. Currently, in order to realize the movement, a plurality of driving parts are generally required to drive, so that the mechanical palm structure is complicated, the size is large, and the distortion is serious compared with a real human palm.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the simulated robot hand realizes high-simulation gesture of a simulated human hand.
In order to solve the technical problem, the utility model discloses a technical scheme be:
a simulation robot hand comprises an arm, a palm, a driving system and five fingers;
the finger comprises a first finger section, a second finger section and a third finger section;
two ends of the second finger section are respectively and rotatably connected with one end of the first finger section and one end of the third finger section;
the other end of the third finger section is rotatably connected with one end of the palm;
the other end of the palm is rotatably connected with one end of the arm;
the driving system is used for driving the palm to rotate up and down and the fingers to complete bending and straightening actions respectively.
Further, the driving system comprises finger driving devices which are connected with each finger in a one-to-one corresponding mode, and each finger driving device comprises a first steering engine, a roller, a first traction rope and a second traction rope;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
Further, the driving system comprises a main steering engine, a roller, a plurality of first traction ropes and a plurality of second traction ropes;
the first traction rope and the second traction rope are arranged in each finger;
the main steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
Further, the finger driving device corresponding to the thumb further comprises a second steering engine and a first gear train;
the second steering engine is arranged in the palm;
the second steering engine drives the third finger section in the thumb to rotate around the palm through the first gear train.
Furthermore, the diameter of the winding groove formed by winding the first traction rope is smaller than that of the winding groove formed by winding the second traction rope.
Further, the driving system further comprises a third steering engine and a second gear train;
the third steering wheel set up in the arm, and through the drive of second gear train the palm winds the arm rotates.
Further, the finger comprises a main body bracket and a plurality of pressing covers;
the pressing covers are spliced on the main body bracket through screws;
the arm and the palm are respectively provided with an arm cover plate and a palm cover plate;
a first mounting hole for mounting the first steering engine and the third steering engine is formed in the arm;
the arm cover plate is fixed on the first mounting hole through a screw;
a second mounting hole for mounting the second steering engine is formed in the palm;
the palm cover plate is fixed on the second mounting hole through screws.
Further, a plurality of tetrafluoride pipes are also included;
the first traction rope and the second traction rope are respectively arranged in the polytetrafluoroethylene tube in a penetrating mode.
Further, the driving system comprises finger driving devices which are connected with each finger in a one-to-one corresponding mode, and each finger driving device comprises a first steering engine, a roller, a first traction rope, a second traction rope and a tension spring;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
a winding groove is formed in the outer wall of the roller;
one end of the tension spring is fixedly connected with the palm and is close to one side of the palm or one side of the back of the hand;
one end of the first traction rope is wound in the winding groove, and the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with one side, away from the tension spring, of the other end of the first finger section;
one end of the second traction rope is fixedly connected with the other end of the tension spring, and the other end of the second traction rope sequentially penetrates through the third finger section, the second finger section and one side, close to the tension spring, of the other end of the first finger section to be fixedly connected.
Further, a silica gel skin coat is also included;
the silica gel leather outer sleeve is sleeved on the arm, the palm and the five fingers.
The beneficial effects of the utility model reside in that: a simulation robot hand comprises an arm, a palm, a driving system and five fingers; the finger comprises a first finger section, a second finger section and a third finger section; the characteristics of human fingers are simulated by sequentially rotating and connecting the three finger sections, the finger joint movement of the human fingers is simulated by rotating and connecting the three finger sections, and the palm is driven by a driving system to rotate up and down and the fingers finish bending and straightening actions. The utility model discloses the gesture of the human hand of simulation that can high emulation for the robot hand has the same flexibility ratio with human hand.
Drawings
Fig. 1 is an overall view of an artificial robot hand according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a first structure inside a simulated robot hand according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a second structure inside a simulated robot hand according to an embodiment of the present invention;
fig. 4 is a front view of an internal structure of a simulated robot hand according to an embodiment of the present invention;
fig. 5 is a connection structure diagram of the palm and the arm of the simulated robot hand according to the embodiment of the present invention;
fig. 6 is a schematic view of a finger structure of an emulated robot hand according to an embodiment of the present invention;
fig. 7 shows a front view of fingers of a simulated robot hand according to an embodiment of the present invention;
FIG. 8 is a schematic view of direction B-B of FIG. 7;
FIG. 9 is a schematic view of the direction C-C in FIG. 8;
fig. 10 is an exploded view of a finger part of a simulated robotic hand according to an embodiment of the present invention;
fig. 11 is an assembly schematic diagram of a first steering engine of an emulated robot hand according to an embodiment of the present invention.
Description of reference numerals:
1. an arm; 2. a palm; 3. a finger; 4. a first steering engine; 5. a roller; 6. a first pull cord; 7. a second pull cord; 8. a second steering engine; 9. a first gear train; 10. a third steering engine; 11. a second gear train; 12. a main body support; 13. a gland; 14. an arm cover plate; 15. a palm cover plate; 16. coating silica gel skin; 17. a wrist rotating shaft; 18. a locking block;
31. a first finger section; 32. a second finger section; 33. a third finger section;
311. the thumb; 312. the index finger; 313. middle finger; 314. ring finger; 315. the little finger.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 11, a simulated robot hand includes an arm, a palm, a driving system and five fingers;
the finger comprises a first finger section, a second finger section and a third finger section;
two ends of the second finger section are respectively and rotatably connected with one end of the first finger section and one end of the third finger section;
the other end of the third finger section is rotatably connected with one end of the palm;
the other end of the palm is rotatably connected with one end of the arm;
the driving system is used for driving the palm to rotate up and down and the fingers to complete bending and straightening actions respectively.
From the above description, the beneficial effects of the present invention are: a simulation robot hand comprises an arm, a palm, a driving system and five fingers; the finger comprises a first finger section, a second finger section and a third finger section; the characteristics of human fingers are simulated by sequentially rotating and connecting the three finger sections, the finger joint movement of the human fingers is simulated by rotating and connecting the three finger sections, and the palm is driven by a driving system to rotate up and down and the fingers finish bending and straightening actions. The utility model discloses the gesture of the human hand of simulation that can high emulation for the robot hand has the same flexibility ratio with human hand.
Further, the driving system comprises finger driving devices which are connected with each finger in a one-to-one corresponding mode, and each finger driving device comprises a first steering engine, a roller, a first traction rope and a second traction rope;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
As can be seen from the above description, the steering engine is installed in the arm, so that the size of the palm can be reduced, and the size of the steering engine is the same as that of the palm of a human body. And the five fingers are driven by different steering engines, so that the five hands can complete different movement postures.
Further, the driving system comprises a main steering engine, a roller, a plurality of first traction ropes and a plurality of second traction ropes;
the first traction rope and the second traction rope are arranged in each finger;
the main steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
According to the description, when the five fingers of the hand only need to complete simultaneous grabbing or simultaneous opening, the postures of the five fingers can be controlled by only arranging one general steering engine so as to realize simultaneous action of the five fingers.
Furthermore, the finger corresponding to the thumb also comprises a second steering engine and a first gear train;
the second steering engine is arranged in the palm;
the second steering engine drives the third finger section in the thumb to rotate around the palm through the first gear train.
According to the description, the third finger section of the thumb of the human body rotates around the palm in a direction different from the rotation direction of the rest four fingers, so that the third finger section of the thumb is driven to rotate around the palm by the aid of the second steering engine and the first gear train in order to better simulate the movement posture of the thumb, and the purpose of high simulation of the movement posture is achieved.
Furthermore, the diameter of the winding groove formed by winding the first traction rope is smaller than that of the winding groove formed by winding the second traction rope.
As can be seen from the above description, the first traction rope and the second traction rope have different stroke when performing the finger action; the motion stroke of second haulage rope can be greater than the motion stroke of first haulage rope, so the diameter of first haulage rope around the wire winding groove of establishing is less than the diameter of second haulage rope around the wire winding groove of establishing to guarantee first haulage rope and second haulage rope and keep the state of tightening.
Further, the driving system further comprises a third steering engine and a second gear train;
the third steering wheel set up in the arm, and through the drive of second gear train the palm winds the arm rotates.
According to the description, the function of the wrist of the human body is realized by the third steering engine and the second gear train, and the actions of lifting and pressing the wrist are completed.
Further, the finger comprises a main body bracket and a plurality of pressing covers;
the pressing covers are spliced on the main body bracket through screws;
the arm and the palm are respectively provided with an arm cover plate and a palm cover plate;
a first mounting hole for mounting the first steering engine and the third steering engine is formed in the arm;
the arm cover plate is fixed on the first mounting hole through a screw;
a second mounting hole for mounting the second steering engine is formed in the palm;
the palm cover plate is fixed on the second mounting hole through screws.
According to the description, the pressing covers are detached from the finger sections and fixedly connected with the main body supports of the finger sections through screws, so that the finger sections can be conveniently assembled. The arrangement of the arm cover plate can facilitate replacement or installation of the first steering engine and the third steering engine inside. The palm cover plate is arranged, so that the second steering engine inside can be replaced or installed conveniently.
Further, a plurality of tetrafluoride pipes are also included;
the first traction rope and the second traction rope are respectively arranged in the polytetrafluoroethylene tube in a penetrating mode.
As can be seen from the above description, the tetrafluoro pipe has the lubricating effect and can also protect the palm, and the abrasion of the traction line to the palm is reduced.
Further, the driving system comprises finger driving devices which are connected with each finger in a one-to-one corresponding mode, and each finger driving device comprises a first steering engine, a roller, a first traction rope, a second traction rope and a tension spring;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
a winding groove is formed in the outer wall of the roller;
one end of the tension spring is fixedly connected with the palm and is close to one side of the palm or one side of the back of the hand;
one end of the first traction rope is wound in the winding groove, and the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with one side, away from the tension spring, of the other end of the first finger section;
one end of the second traction rope is fixedly connected with the other end of the tension spring, and the other end of the second traction rope sequentially penetrates through the third finger section, the second finger section and one side, close to the tension spring, of the other end of the first finger section to be fixedly connected.
As can be seen from the above description, the function of the tension spring can realize the function of automatic reset, and the internal structure is simplified.
Further, a silica gel skin coat is also included;
the silica gel leather outer sleeve is sleeved on the arm, the palm and the five fingers.
According to the description, the silica gel coat can simulate the touch of human hands.
Referring to fig. 1 to 11, a first embodiment of the present invention is:
a simulation robot hand comprises an arm 1, a palm 2, a driving system and five fingers 3;
the finger 3 comprises a first finger section 31, a second finger section 32 and a third finger section 33;
two ends of the second finger section 32 are respectively and rotatably connected with one end of the first finger section 31 and one end of the third finger section 33;
the other end of the third finger section 33 is rotatably connected with one end of the palm 2;
the other end of the palm 2 is rotatably connected with one end of the arm 1;
the driving system is used for driving the palm 2 to rotate up and down and the fingers 3 to complete the bending and straightening actions respectively.
Wherein, the rotation connection part adopts the rotating shaft and the bearing to connect, and the specific connection mode belongs to the conventional prior art and is not described in detail herein.
Referring to fig. 2, 8 and 11, specifically, the five fingers 3 include a thumb 311, an index finger 312, a middle finger 313, a ring finger 314 and a little finger 315;
the finger driving device which is connected with each finger 3 in a one-to-one correspondence mode comprises a first steering engine 4, a roller 5, a first traction rope 6 and a second traction rope 7;
the first steering engine 4 is arranged in the arm 1, and an output shaft is fixedly connected with the rotating center of the roller 5;
two winding grooves are arranged on the outer wall of the roller 5;
the first traction rope 6 and the second traction rope 7 are respectively arranged in the polytetrafluoroethylene tube in a penetrating way;
one end of the first traction rope 6 and one end of the second traction rope 7 are respectively wound in the two winding grooves, and the winding directions are opposite;
wherein, the first hauling rope 6 and the second hauling rope 7 are selected from rope wires with small deformation and large tensile strength, such as PE fishing line or steel wire.
Referring to fig. 2 to 4, specifically, the finger driving device corresponding to the thumb 311 further includes a second steering engine 8 and a first gear train 9;
the second steering engine 8 is arranged in the palm 2;
the second steering engine 8 drives the third finger section 33 in the thumb 311 to rotate around the palm 2 through the first gear train 9.
The third finger section 33 of the thumb 311 and the rotation axis of the palm 2 form a preset angle with the rotation axis of the third finger sections 33 of the remaining four fingers.
Referring to fig. 11, specifically, the diameter of the winding slot wound by the first traction rope 6 is smaller than the diameter of the winding slot wound by the second traction rope 7.
Referring to fig. 3 to 5, specifically, the driving system further includes a third steering engine 10 and a second gear train 11;
the third steering wheel 10 is arranged in the arm 1 and drives the palm 2 to rotate around the arm 1 through a second gear train 11.
Specifically, the palm 2 is rotatably connected to the wrist hinge 17. The wrist rotating shaft 17 is fixedly connected with the arm 1 through two locking blocks 18 and screws. The wrist rotary shaft 17 has a through hole through which a traction rope passes. The palm 2 is fixedly connected with a gear, and the third steering engine 10 drives the gear on the palm 2 to rotate through gear engagement when rotating, so that the bending motion of the palm 2 is realized
Referring to fig. 2, 3 and 10, in particular, the finger 3 includes a main body support 12 and a plurality of pressing covers 13;
the plurality of pressing covers 13 are spliced on the main body bracket 12 through screws;
an arm cover plate 14 and a palm cover plate 15 are respectively arranged on the arm 1 and the palm 2;
a first mounting hole for mounting a first steering engine 4 and a third steering engine 10 is formed in the arm 1;
the arm cover plate 14 is fixed on the first mounting hole through a screw;
a second mounting hole for mounting a second steering engine 8 is formed in the palm 2;
the palm cover 15 is fixed to the second mounting hole by screws.
Referring to fig. 1, specifically, a silica gel skin sheath 16 is further included;
the silica gel skin coat 16 is sleeved on the arm 1, the palm 2 and the five fingers 3.
Specifically, the silicone skin sheath 16 is reverse molded by a real person.
The embodiment of the utility model discloses an embodiment two is:
the difference between the embodiment and the embodiment I is that five fingers 3 are controlled by one general steering engine to realize the synchronous motion of the five fingers 3;
specifically, the driving system comprises a main steering engine, a roller 5, a plurality of first traction ropes 6 and a plurality of second traction ropes 7;
a first traction rope 6 and a second traction rope 7 are arranged in each finger 3;
the general steering engine is arranged in the arm 1, and an output shaft is fixedly connected with the rotating center of the roller 5;
two winding grooves are formed in the outer wall of the roller 5;
one end of the first traction rope 6 and one end of the second traction rope 7 are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope 6 sequentially penetrates through the palm 2, the third finger section 33 and the second finger section 32 to be fixedly connected with the other end of the first finger section 31 close to the back of the hand;
the other end of the second traction rope 7 sequentially penetrates through the palm 2, the third finger section 33 and the second finger section 32 to be fixedly connected with the other end of the first finger section 31 close to the palm.
The third embodiment of the present invention is:
the difference between the present embodiment and the first embodiment is that the specific structure of the driving system is different;
the driving system comprises finger driving devices which are connected with each finger 3 in a one-to-one corresponding mode, and each finger driving device comprises a first steering engine 4, a roller 5, a first traction rope 6, a second traction rope 7 and a tension spring;
the first steering engine 4 is arranged in the arm 1, and an output shaft is fixedly connected with the rotating center of the roller 5;
a winding groove is arranged on the outer wall of the roller 5;
one end of the tension spring is fixedly connected with the palm 2 and is close to one side of the palm or one side of the back of the hand;
one end of the first traction rope 6 is wound in the winding groove, and the other end of the first traction rope sequentially penetrates through the palm 2, the third finger section 33 and the second finger section 32 to be fixedly connected with one side, away from the tension spring, of the other end of the first finger section 31;
one end of the second traction rope 7 is fixedly connected with the other end of the tension spring, and the other end of the second traction rope sequentially penetrates through the third finger section 33, the second finger section 32 and one side of the other end of the first finger section 31, which is close to the tension spring.
Specifically, when the tension spring is arranged at the palm, the first traction rope 6 is stretched, the finger 3 is straightened, and the second traction rope 7 is in a stretched state; when the first traction rope 6 is loosened, the second traction rope 7 bends the finger 3 under the tension of the tension spring.
When the tension spring is arranged at the back of the hand, the first traction rope 6 is stretched, the fingers are bent, and the second traction rope 7 is in a stretched state; when the first hauling cable 6 is loosened, the second hauling cable 7 enables the finger 3 to be straightened under the tension effect of the tension spring.
To sum up, the utility model provides a simulation robot hand, which comprises an arm, a palm, a driving system and five fingers; the finger comprises a first finger section, a second finger section and a third finger section; the characteristics of the human fingers are simulated by sequentially and rotatably connecting the three finger sections, and the finger joint movement of the human fingers is simulated by the rotary connection. Meanwhile, the steering engine is installed in the arm, so that the size of the palm can be reduced, and the size of the steering engine is the same as that of the palm of a human body. Through the adoption of the technical scheme, five fingers are driven by different steering engines, so that five hands can complete different movement postures; or only one general steering engine is arranged to control the postures of the five fingers so as to realize the simultaneous action of the five fingers. Each finger section is separated to form a gland, and each gland is fixedly connected with the main body bracket of each finger section through screws, so that the finger sections can be conveniently assembled. The arrangement of the arm cover plate can facilitate replacement or installation of the first steering engine and the third steering engine inside. The palm cover plate is arranged, so that the second steering engine inside can be replaced or installed conveniently. Meanwhile, in order to facilitate the installation of internal parts, each finger section is disassembled into the pressing covers, and each pressing cover is fixedly connected with the main body bracket of each finger section through screws. The arrangement of the arm cover plate can facilitate replacement or installation of the first steering engine and the third steering engine inside. The palm cover plate is arranged, so that the second steering engine inside can be replaced or installed conveniently. The utility model discloses the gesture of the human hand of simulation that can high emulation, the small and exquisite compactness of size can realize a plurality of actions with the staff, and the outside covers has the silica gel skin of real person's reverse mould, has the effect of high emulation.
The above mentioned is only the embodiment of the present invention, and not the limitation of the patent scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or the direct or indirect application in the related technical field, are included in the patent protection scope of the present invention.
Claims (10)
1. A simulation robot hand is characterized by comprising an arm, a palm, a driving system and five fingers;
the finger comprises a first finger section, a second finger section and a third finger section;
two ends of the second finger section are respectively and rotatably connected with one end of the first finger section and one end of the third finger section;
the other end of the third finger section is rotatably connected with one end of the palm;
the other end of the palm is rotatably connected with one end of the arm;
the driving system is used for driving the palm to rotate up and down and the fingers to complete bending and straightening actions respectively.
2. The simulated robotic hand of claim 1, wherein the drive system comprises finger drives connected in a one-to-one correspondence with each finger, the finger drives comprising a first steering engine, a roller, a first pull rope and a second pull rope;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
3. The simulated robotic hand of claim 1, wherein the drive system comprises a master steering engine, a roller, a plurality of first pull lines, and a plurality of second pull lines;
the first traction rope and the second traction rope are arranged in each finger;
the main steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
two winding grooves are formed in the outer wall of the roller;
one end of the first traction rope and one end of the second traction rope are respectively wound in the two winding grooves, and the winding directions are opposite;
the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the back of the hand;
the other end of the second traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with the other end of the first finger section close to the palm.
4. The simulated robotic hand of claim 2, wherein the finger drive means corresponding to the thumb further comprises a second steering engine and a first gear train;
the second steering engine is arranged in the palm;
the second steering engine drives the third finger section in the thumb to rotate around the palm through the first gear train.
5. The simulated robotic hand of claim 2, wherein the diameter of the winding slot around which the first pull cord is wound is smaller than the diameter of the winding slot around which the second pull cord is wound.
6. The simulated robotic hand of claim 4, wherein the drive system further comprises a third steering engine and a second gear train;
the third steering wheel set up in the arm, and through the drive of second gear train the palm winds the arm rotates.
7. The simulated robotic hand of claim 6, wherein the fingers comprise a body support and a plurality of glands;
the pressing covers are spliced on the main body bracket through screws;
the arm and the palm are respectively provided with an arm cover plate and a palm cover plate;
a first mounting hole for mounting the first steering engine and the third steering engine is formed in the arm;
the arm cover plate is fixed on the first mounting hole through a screw;
a second mounting hole for mounting the second steering engine is formed in the palm;
the palm cover plate is fixed on the second mounting hole through screws.
8. The simulated robotic hand of claim 2, further comprising a plurality of tetrafluorinated tubes;
the first traction rope and the second traction rope are respectively arranged in the polytetrafluoroethylene tube in a penetrating mode.
9. The simulated robotic hand of claim 1, wherein the drive system comprises finger drives connected in a one-to-one correspondence with each finger, the finger drives comprising a first steering engine, a roller, a first pull rope, a second pull rope and a tension spring;
the first steering engine is arranged in the arm, and an output shaft is fixedly connected with the rotating center of the roller;
a winding groove is formed in the outer wall of the roller;
one end of the tension spring is fixedly connected with the palm and is close to one side of the palm or one side of the back of the hand;
one end of the first traction rope is wound in the winding groove, and the other end of the first traction rope sequentially penetrates through the palm, the third finger section and the second finger section to be fixedly connected with one side, away from the tension spring, of the other end of the first finger section;
one end of the second traction rope is fixedly connected with the other end of the tension spring, and the other end of the second traction rope sequentially penetrates through the third finger section, the second finger section and one side, close to the tension spring, of the other end of the first finger section to be fixedly connected.
10. The simulated robotic hand of claim 1, further comprising a silicone skin outer cover;
the silica gel leather outer sleeve is sleeved on the arm, the palm and the five fingers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021170175.4U CN212825438U (en) | 2020-06-22 | 2020-06-22 | Simulation robot hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021170175.4U CN212825438U (en) | 2020-06-22 | 2020-06-22 | Simulation robot hand |
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| CN212825438U true CN212825438U (en) | 2021-03-30 |
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| CN202021170175.4U Active CN212825438U (en) | 2020-06-22 | 2020-06-22 | Simulation robot hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113715045A (en) * | 2021-09-01 | 2021-11-30 | 宿州赛尔沃德物联网科技有限公司 | Bionic manipulator driving structure and driving method |
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