CN215019786U - Terminal structure of machine bionic hand - Google Patents
Terminal structure of machine bionic hand Download PDFInfo
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- CN215019786U CN215019786U CN202121552939.0U CN202121552939U CN215019786U CN 215019786 U CN215019786 U CN 215019786U CN 202121552939 U CN202121552939 U CN 202121552939U CN 215019786 U CN215019786 U CN 215019786U
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- knuckle
- bionic hand
- plate
- rotating plate
- fixture block
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000032683 aging Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 1
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Abstract
The utility model discloses an end structure of machine bionic hand, including first knuckle, second knuckle, third knuckle and coupling mechanism, the utility model discloses a coupling mechanism has been set up in the first knuckle outside, inserts the outside of first knuckle through selecting different dactylotheca according to actual need to trapezoidal fixture block outwards removes the draw-in groove inboard that enters into in the dactylotheca and realizes fixing the dactylotheca position, thereby makes and contact in outside article by the dactylotheca in the bionic hand use, has reached the form of adjusting the bionic hand according to actual need fast, makes the bionic hand use more nimble, the stronger beneficial effect of practicality.
Description
Technical Field
The utility model particularly relates to an end structure of a machine bionic hand, which relates to the relevant field of the bionic hand.
Background
Since the 90 s in the 20 th century, the aging problem of the Chinese society is more serious, and in addition, about 6 million of various disabled people exist in China and account for 5% of the general population of China, so the aging and disability assisting problems become important problems to be solved urgently in the present society, meanwhile, along with the vigorous development of the robot technology in China, the use of the robot is more diversified, the service robot becomes a hotspot of research in the field of robots, the aging and disability assisting robot is one of important branches of an intelligent service robot, is a service robot designed for the old and the disabled, and a robot bionic hand is an important component part on the robot.
When the bionic hand of the robot is used, because the conditions of objects needing to be taken are different, some are smooth, some are rough, the shape of the bionic hand is fixed, the bionic hand is difficult to adapt to different actual conditions, and the practicability of the bionic hand is reduced.
SUMMERY OF THE UTILITY MODEL
Therefore, in order to solve the above-mentioned insufficiency, the utility model provides a terminal structure of machine bionic hand here.
The utility model is realized by constructing the end structure of a machine bionic hand, the device comprises a first knuckle and a second knuckle, the first knuckle is rotatably arranged at the top of the second knuckle, a connecting mechanism is arranged at the inner side of the first knuckle, the connecting mechanism comprises a finger sleeve, a rotating plate, an opening, a fixed plate, a torsional spring, a trapezoidal fixture block, a linking mechanism, a mounting ring and a placing groove, the inner side surface of the finger sleeve is tightly attached to the side surface of the first knuckle, the rotating plate penetrates through the inner side of the opening, the rotating plate is rotatably connected with the inner top of the mounting ring, the opening penetrates through the upper end and the lower end of the fixed plate, the fixed plate is connected with the bottom end surfaces of the first knuckle and the mounting ring, the torsional spring is arranged at the top of the rotating plate, the trapezoidal fixture block penetrates through the inner side of the mounting ring, and the trapezoidal fixture block movably extends into the inner side of a clamping groove arranged at the bottom of the inner ring of the finger sleeve, the linking mechanism is arranged at the front end of the trapezoidal fixture block, the mounting ring is fastened on the inner side of the placing groove, and the placing groove is formed in the middle of the bottom end face of the first knuckle.
Preferably, the second knuckle is hinged to the top of the third knuckle.
Preferably, the linking mechanism comprises a transmission block, a through hole, a spring, a support plate and guide plates, the transmission block is arranged on the rear end face of the rotating plate, the transmission block movably extends into the inner side of the through hole, the through hole penetrates through the left sides of the front end and the rear end of the trapezoidal fixture block, the two ends of the spring are respectively connected to the middle of the right end face of the support plate and the middle of the left end face of the trapezoidal fixture block, the support plate is fastened on the front end face of the inner side of the mounting ring, the guide plates are arranged on the right end face of the support plate, and the upper and lower opposite faces of the two guide plates are in sliding connection with the upper and lower end faces of the trapezoidal fixture block.
Preferably, the rotating plate is of a curved structure, and the thickness of the rotating plate is smaller than the length of the inner side of the opening.
Preferably, the rotating plate, the opening, the torsion spring, the trapezoidal clamping block and the connecting mechanism are symmetrically provided with two ends which are arranged on the left side and the right side of the inner side of the mounting ring, and the two ends on the left side and the right side of the inner side of the fingerstall are provided with corresponding clamping grooves.
Preferably, the fixing plate is flush with the side surface of the first knuckle, and the fixing plate is parallel to the bottom end surface of the first knuckle.
Preferably, the transmission block is of a cylindrical structure, and the outer diameter of the transmission block is smaller than the inner width and the inner length of the through hole.
Preferably, the guide plate is of a U-shaped structure, and the width of the inner side of the guide plate corresponds to the thickness of the trapezoidal fixture block.
The utility model has the advantages of as follows: the utility model discloses an improve and provide a terminal structure of imitative hand of machine here, compare with equipment of the same type, have following improvement:
the method has the advantages that: an end structure of machine bionic hand, through having set up coupling mechanism in the first knuckle outside, insert the outside of first knuckle through the dactylotheca of selecting different according to actual need to trapezoidal fixture block outside removes the draw-in groove inboard that enters into in the dactylotheca and realizes with dactylotheca rigidity, thereby make in the use of bionic hand contact outside article by the dactylotheca on, reached according to actual need and the form of quick adjustment bionic hand, make the bionic hand use more nimble, the beneficial effect that the practicality is stronger.
The method has the advantages that: a terminal structure of machine bionic hand is bent type structure through changeing the board, and changes board thickness and be less than the inboard length of opening, is convenient for change the board and drives the transmission piece and rotate to make the transmission piece at the draw-in groove inboard that rotates the inside removal of trapezoidal fixture block of in-process pulling and break away from the finger sleeve.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic front sectional view of the connection mechanism of the present invention;
fig. 3 is a schematic structural view of the fixing plate of the present invention;
fig. 4 is an enlarged schematic view of the structure at a in fig. 2 of the present invention;
fig. 5 is a schematic view of the left-side view connection structure of the guide plate of the present invention.
Wherein: the finger stall comprises a first knuckle-1, a second knuckle-2, a third knuckle-4, a connecting mechanism-3, a finger stall-31, a rotating plate-32, an opening-33, a fixing plate-34, a torsion spring-35, a trapezoidal clamping block-36, a connecting mechanism-37, a mounting ring-38, a placing groove-39, a transmission block-371, a through hole-372, a spring-373, a supporting plate-374 and a guide plate-375.
Detailed Description
The present invention will be described in detail with reference to the accompanying fig. 1-5, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, the present invention provides a terminal structure of a robotic bionic hand, which comprises a first knuckle 1 and a second knuckle 2, wherein the first knuckle 1 is rotatably mounted on the top of the second knuckle 2, and the second knuckle 2 is hinged on the top of a third knuckle 4.
Referring to fig. 2 and 3, the present invention provides a terminal structure of a robotic bionic hand, wherein the connecting mechanism 3 is disposed inside the first knuckle 1, the connecting mechanism 3 includes a finger sleeve 31, a rotating plate 32, an opening 33, a fixing plate 34, a torsion spring 35, a trapezoidal fixture block 36, a connecting mechanism 37, an installation ring 38 and a placement groove 39, an inner side end surface of the finger sleeve 31 is tightly attached to a side surface of the first knuckle 1, the rotating plate 32 penetrates through the opening 33, the rotating plate 32 is rotatably connected to an inner top of the installation ring 38, the rotating plate 32 is of a curved structure, the thickness of the rotating plate 32 is smaller than that of the opening 33, the rotating plate 32 is conveniently rotated in the opening 33, the opening 33 penetrates through upper and lower ends of the fixing plate 34, the fixing plate 34 is connected to bottom end surfaces of the first knuckle 1 and the installation ring 38, the fixing plate 34 is flush with the side surface of the first knuckle 1, and the fixing plate 34 is parallel to the bottom end surface of the first knuckle 1, prevent that fixed plate 34 is too big and influence the use of first knuckle 1, torsional spring 35 sets up in changeing board 32 top, trapezoidal fixture block 36 runs through in collar 38 inboard, and trapezoidal fixture block 36 activity stretches into the draw-in groove inboard of seting up in dactylotheca 31 inner circle bottom, linking mechanism 37 sets up in trapezoidal fixture block 36 front end, commentaries on classics board 32, opening 33, torsional spring 35, trapezoidal fixture block 36 and linking mechanism 37 equal symmetry are provided with two in both ends about collar 38 inboard, make dactylotheca 31 installation more stable, and corresponding draw-in groove has been seted up at both ends about the dactylotheca 31 inboard, collar 38 fastens in standing groove 39 inboard, standing groove 39 is seted up in first knuckle 1 bottom face middle part.
Referring to fig. 4 and 5, the present invention provides a terminal structure of a robotic bionic hand by improvement, wherein the connecting mechanism 37 includes a driving block 371, a through hole 372, a spring 373, a supporting plate 374 and a guiding plate 375, the driving block 371 is disposed on the rear end surface of the rotating plate 32, the driving block 371 movably extends into the through hole 372, the driving block 371 is a cylindrical structure, the outer diameter of the driving block 371 is smaller than the width and inner side of the through hole 372, so that the driving block 371 cooperates with the through hole 372 to pull the trapezoid-shaped fixture block 36 to move inward, the through hole 372 penetrates the left side of the front and rear ends of the trapezoid-shaped fixture block 36, the two ends of the spring 373 are respectively connected to the middle of the right end surface of the supporting plate and the middle of the left end surface of the trapezoid-shaped fixture block 36, the supporting plate 374 is fastened to the front end surface 374 of the mounting ring 38, the guiding plate 375 is provided with two right end surfaces of the supporting plate 374, and the two guiding plates 375 are slidably connected to the upper and lower end surfaces of the trapezoid-shaped fixture block 36, the guide plate 375 is of a U-shaped structure, and the inner width of the guide plate 375 corresponds to the thickness of the trapezoidal latch 36, so that the movement process of the trapezoidal latch 36 is more stable.
The utility model provides a terminal structure of a machine bionic hand through improvement, and the working principle is as follows;
firstly, the third knuckle 4 is connected to an external machine bionic hand, and the machine bionic hand is connected to an external corresponding device;
secondly, when the end structure of the bionic hand needs to be used, the rotating plate 32 is pushed inwards to drive the transmission block 371 to rotate inwards, the transmission block 371 is matched with the through hole 372 in the process of rotating inwards to drive the trapezoidal fixture block 36 to move inwards to be separated from the inner side of the clamping groove of the inner ring of the finger sleeve 31, then the old finger sleeve is taken down, the pushing force on the rotating plate 32 is cancelled, and the rotating plate 32 and the trapezoidal fixture block 36 are reset respectively under the elastic force of the torsion spring 35 and the spring 373;
thirdly, selecting the corresponding finger stall 31 to be inserted into the first knuckle 1 according to the actual use situation, pushing the trapezoidal fixture block 36 to move inwards along the guide plate 375 when the finger stall 31 is inserted into the outer surface of the first knuckle 1, compressing the spring 373 under the pressure of the trapezoidal fixture block 36, moving the trapezoidal fixture block 36 outwards under the elastic force of the spring 373 to enter the inner side of the clamping groove of the finger stall 31 to be fixed when the finger stall 31 is completely placed on the first knuckle 31, thereby fixing the position of the finger stall 31, and finally driving the bionic hand to be used by external operation equipment after the position of the finger stall 31 is fixed, and driving the third knuckle 4, the second knuckle 2, the first knuckle 1 and the finger stall 31 to perform operation treatment on external corresponding objects by the bionic hand.
The utility model discloses an improvement provides a terminal structure of machine bionic hand, insert the outside of first knuckle 1 through dactylotheca 31 of selecting different according to actual need, and trapezoidal fixture block 36 outwards removes the draw-in groove inboard that enters into in the dactylotheca 31 and realize with dactylotheca 31 rigidity, thereby make in the use of bionic hand contact on outside article by dactylotheca 31, the form of the bionic hand of quick adjustment according to actual need has been reached, make the bionic hand use more nimble, the beneficial effect that the practicality is stronger, be curved structure through changeing board 32, and change board 32 thickness and be less than the inboard length of opening 33, it rotates to be convenient for changeing board 32 and drive transmission block 371, thereby make transmission block 371 at the draw-in groove inboard that the trapezoidal fixture block 36 of rotation in-process pulling breaks away from in dactylotheca 31.
Claims (8)
1. The tail end structure of the machine bionic hand comprises a first knuckle (1) and a second knuckle (2), wherein the first knuckle (1) is rotatably arranged at the top of the second knuckle (2);
the method is characterized in that: the connecting mechanism (3) is arranged on the inner side of the first knuckle (1), the connecting mechanism (3) comprises a finger sleeve (31), a rotating plate (32), an opening (33), a fixing plate (34), a torsion spring (35), a trapezoidal clamping block (36), a connecting mechanism (37), a mounting ring (38) and a placing groove (39), the end face of the inner side of the finger sleeve (31) is tightly attached to the side surface of the first knuckle (1), the rotating plate (32) penetrates through the inner side of the opening (33), the rotating plate (32) is rotatably connected with the top of the inner side of the mounting ring (38), the opening (33) penetrates through the upper end and the lower end of the fixing plate (34), the fixing plate (34) is connected with the bottom end faces of the first knuckle (1) and the mounting ring (38), the torsion spring (35) is arranged on the top of the rotating plate (32), and the trapezoidal clamping block (36) penetrates through the inner side of the mounting ring (38), the trapezoidal fixture block (36) movably extends into the inner side of a clamping groove formed in the bottom of the inner ring of the finger sleeve (31), the connecting mechanism (37) is arranged at the front end of the trapezoidal fixture block (36), the mounting ring (38) is fastened on the inner side of the placing groove (39), and the placing groove (39) is formed in the middle of the bottom end face of the first knuckle (1).
2. The end structure of a robotic bionic hand according to claim 1, characterized in that: the second knuckle (2) is hinged to the top of the third knuckle (4).
3. The end structure of a robotic bionic hand according to claim 1, characterized in that: the connecting mechanism (37) comprises a transmission block (371), a through hole (372), a spring (373), a support plate (374) and guide plates (375), the transmission block (371) is arranged on the rear end face of the rotating plate (32), the transmission block (371) movably extends into the inner side of the through hole (372), the through hole (372) penetrates through the left sides of the front end and the rear end of the trapezoidal fixture block (36), the two ends of the spring (373) are respectively connected to the middle of the right end face of the support plate (374) and the middle of the left end face of the trapezoidal fixture block (36), the support plate (374) is fastened on the front end face of the inner side of the mounting ring (38), the guide plates (375) are mounted on the right end face of the support plate (374), and the upper and lower vertical faces of the two guide plates (375) are connected with the upper and lower end faces of the trapezoidal fixture block (36) in a sliding mode.
4. The end structure of a robotic bionic hand according to claim 1, characterized in that: the rotating plate (32) is of a curved structure, and the thickness of the rotating plate (32) is smaller than the length of the inner side of the opening (33).
5. The end structure of a robotic bionic hand according to claim 1, characterized in that: the rotating plate (32), the opening (33), the torsion spring (35), the trapezoidal clamping block (36) and the connecting mechanism (37) are symmetrically provided with two ends which are arranged on the left side and the right side of the inner side of the mounting ring (38), and corresponding clamping grooves are formed in the left side and the right side of the inner side of the finger sleeve (31).
6. The end structure of a robotic bionic hand according to claim 1, characterized in that: the fixing plate (34) is flush with the side surface of the first knuckle (1), and the fixing plate (34) is parallel to the bottom end surface of the first knuckle (1).
7. The end structure of a robotic bionic hand according to claim 3, characterized in that: the transmission block (371) is of a cylindrical structure, and the outer diameter of the transmission block (371) is smaller than the inner width and the inner length of the through hole (372).
8. The end structure of a robotic bionic hand according to claim 3, characterized in that: the guide plate (375) is of a U-shaped structure, and the width of the inner side of the guide plate (375) corresponds to the thickness of the trapezoid clamping block (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121552939.0U CN215019786U (en) | 2021-07-08 | 2021-07-08 | Terminal structure of machine bionic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121552939.0U CN215019786U (en) | 2021-07-08 | 2021-07-08 | Terminal structure of machine bionic hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215019786U true CN215019786U (en) | 2021-12-07 |
Family
ID=79224622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121552939.0U Expired - Fee Related CN215019786U (en) | 2021-07-08 | 2021-07-08 | Terminal structure of machine bionic hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215019786U (en) |
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2021
- 2021-07-08 CN CN202121552939.0U patent/CN215019786U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220516 Address after: 415000 Chengdong Lvdao community, Wuling District, Changde City, Hunan Province Patentee after: Mei Boshen Address before: 100020 room 233, 2 / F, building 1, yard 31, Guangqu Road, Chaoyang District, Beijing Patentee before: Beijing Zhongke infinite Education Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |