CN215789937U

CN215789937U - Manipulator finger

Info

Publication number: CN215789937U
Application number: CN202122357416.7U
Authority: CN
Inventors: 雷国华
Original assignee: Qingyuan Leiqiao Robot Co ltd
Current assignee: Qingyuan Leiqiao Robot Co ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-02-11
Anticipated expiration: 2031-09-27

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a mechanical arm finger which comprises a driving mechanism, a first joint, a second joint, a third joint and a finger swinging plate, wherein the first joint, the second joint, the third joint and the finger swinging plate are sequentially and rotatably connected, the other end of the finger swinging plate is used for being connected with a mechanical arm palm, the driving mechanism is used for driving the first joint, the second joint and the third joint to rotate, and elastic pieces are arranged between the second joint and the third joint and between the third joint and the finger swinging plate. According to the manipulator finger provided by the utility model, the first joint, the second joint, the third joint and the finger swinging plate are sequentially and rotatably connected, and the first joint, the second joint and the third joint are driven to rotate by the driving mechanism, so that the finger can act like a human hand to realize the action of each joint, the use flexibility of the manipulator finger is improved, and the application range of the manipulator finger is enlarged.

Description

Manipulator finger

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm finger.

Background

The manipulator is widely used in industrial production and consists of a palm and a plurality of fingers, and the fingers grab objects in work. However, the fingers of the existing manipulator only can move integrally, and can not move in each joint, so that the flexibility is low in the use process, and the application range is limited.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides a mechanical finger which can realize the action of each joint like a human hand, improve the flexibility and enlarge the application range.

The technical scheme adopted by the utility model for solving the technical problems is as follows:

the utility model provides a manipulator finger, includes actuating mechanism and rotates first joint, second joint, third joint and the finger swing board of connection in proper order, the other end that the finger swings the board is used for connecting the manipulator palm, actuating mechanism is used for the drive first joint the second joint reaches the third joint rotates, the second joint with between the third joint with it is equipped with the elastic component to point between the swing board.

Preferably, the drive mechanism comprises a first drive assembly for driving the first joint, a second drive assembly for driving the second joint and a third drive assembly for driving the third joint.

Preferably, the first driving assembly comprises a first rotating shaft connected with the first joint and the second joint, a first rolling bearing sleeved on the first rotating shaft, a first mounting seat arranged inside the first joint, a first guide block arranged on the second joint, a first traction steel wire and a fifth traction steel wire, the first traction steel wire and the fifth traction steel wire penetrate through the first guide block to be connected with the first mounting seat, the first traction steel wire abuts against the upper side of the first rolling bearing, and the fifth traction steel wire abuts against the lower side of the first rolling bearing.

Preferably, the second driving assembly comprises a second rotating shaft connected with the second joint and the third joint, a second rolling bearing sleeved on the second rotating shaft, a second mounting seat arranged inside the second joint, a second guide block arranged on the third joint, a second traction steel wire and a sixth traction steel wire, the second traction steel wire and the sixth traction steel wire penetrate through the second guide block to be connected with the second mounting seat, the second traction steel wire abuts against the upper side of the second rolling bearing, and the sixth traction steel wire abuts against the lower side of the second rolling bearing.

Preferably, the second rotating shaft is sleeved with a first torsion spring, and two ends of the first torsion spring are respectively abutted to the second joint and the third joint.

Preferably, the third drive assembly includes the rotation otic placode that sets firmly on the finger swing board, connect the rotation otic placode reaches the third pivot of third joint, cup joint in the epaxial third antifriction bearing of third pivot, set up and be in the inside third mount pad of third joint, set up and be in the third guide block and the fourth guide block, the third that rotate the otic placode both ends pull the steel wire, the fourth pulls the steel wire, the third pulls the steel wire and passes the third guide block is connected the third mount pad, the fourth pulls the steel wire and passes the fourth guide block is connected the third mount pad, the duplex winding is in on the third antifriction bearing.

Preferably, a second torsion spring is sleeved on the third rotating shaft, and two ends of the second torsion spring are respectively abutted to the third joint and the finger swing plate.

Preferably, one end of the first joint, which is far away from the second joint, is provided with a clamping plate, and the clamping plate is provided with anti-skid grains.

Compared with the prior art, the manipulator finger provided by the embodiment of the utility model has the beneficial effects that: the first joint, the second joint, the third joint and the finger swing plate are sequentially connected in a rotating mode, and meanwhile the first joint, the second joint and the third joint are driven to rotate through the driving mechanism, so that the fingers can move like hands to realize the action of each joint, the use flexibility of the finger is improved, and the application range of the finger is enlarged. The utility model has simple structure, good use effect and easy popularization and use.

Drawings

Figure 1 is an isometric view of a manipulator finger of the present invention.

Figure 2 is an isometric view of another perspective of the fingers of the robot of the present invention.

Fig. 3 is an exploded view of the robot finger of the present invention.

Wherein: 1-first joint, 11-clamping plate, 2-second joint, 3-third joint, 4-finger swing plate, 5-first drive assembly, 51-first rotating shaft, 52-first rolling bearing, 53-first mounting seat, 54-first guide block, 55-first traction wire, 6-second drive assembly, 61-second rotating shaft, 62-second rolling bearing, 63-second mounting seat, 64-second guide block, 65-second traction wire, 66-first torsion spring, 7-third drive assembly, 71-rotating ear plate, 72-third rotating shaft, 73-third rolling bearing, 74-third mounting seat, 75-third guide block, 76-fourth guide block, 77-third traction wire, 78-fourth traction wire, 79-second torsion spring.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

As shown in fig. 1 to 3, a manipulator finger according to a preferred embodiment of the present invention includes a driving mechanism, and a first joint 1, a second joint 2, a third joint 3, and a finger swing plate 4 that are rotatably connected in sequence, where the other end of the finger swing plate 4 is used to connect to a manipulator palm, the driving mechanism is used to drive the first joint 1, the second joint 2, and the third joint 3 to rotate, and elastic members are provided between the second joint 2 and the third joint 3, and between the third joint 3 and the finger swing plate 4, and the elastic members are used to reset.

Based on the mechanical hand finger with the technical characteristics, the first joint 1, the second joint 2, the third joint 3 and the finger swing plate 4 are sequentially connected in a rotating mode, and meanwhile the first joint 1, the second joint 2 and the third joint 3 are driven to rotate through the driving mechanism, so that the finger can act like a human hand to realize the action of each joint, the use flexibility of the mechanical hand finger is improved, and the application range of the mechanical hand finger is enlarged. The utility model has simple structure, good use effect and easy popularization and use.

In this embodiment, the driving mechanism includes a first driving component 5 for driving the first joint 1, a second driving component 6 for driving the second joint 2, and a third driving component 7 for driving the third joint 3, specifically:

the first driving assembly 5 includes a first rotating shaft 51 connected to the first joint 1 and the second joint 2, a first rolling bearing 52 sleeved on the first rotating shaft 51, a first mounting seat 53 disposed inside the first joint 1, a first guide block 54 disposed on the second joint 2, a first traction wire 55 and a fifth traction wire (not shown in the figure), the first traction wire 55 and the fifth traction wire pass through the first guide block 54 to be connected to the first mounting seat 53, the first traction wire 55 abuts against the upper side of the first rolling bearing 52, and the fifth traction wire abuts against the lower side of the first rolling bearing 52. The other ends of the first traction steel wire 55 and the fifth traction steel wire are connected with a power device, such as a steering engine, and the steering engine rotates forwards and backwards during working, when the steering engine drives the first traction steel wire 55 to wind the first rolling bearing 52 to realize upward traction on the first mounting seat 53, the first joint 1 moves upwards, and when the steering engine drives the fifth traction steel wire, the first joint 1 is controlled to move downwards. Of course, the first traction wire 55 and the fifth traction wire may be one wire, and may be wound around the first rolling bearing 52.

Similarly, the second driving assembly 6 includes a second rotating shaft 61 connected to the second joint 2 and the third joint 3, a second rolling bearing 62 sleeved on the second rotating shaft 61, a second mounting seat 63 disposed inside the second joint 2, a second guide block 64 disposed on the third joint 3, a second traction wire 65, and a sixth traction wire, where the second traction wire 65 is connected to the second mounting seat 63 by passing through the second guide block 64, and the second traction wire 65 abuts against the upper side of the second rolling bearing 62, and the sixth traction wire abuts against the lower side of the second rolling bearing 62. The second traction steel wire 65 is also connected with a steering engine, and when the steering engine drives the second traction steel wire 65 to move, the second joint 2 moves upwards; when the steering engine drives the sixth traction steel wire to move, the second joint 2 moves up and down. The second traction wire 65 and the sixth traction wire may be a single wire. Meanwhile, the second rotating shaft 61 is sleeved with a first torsion spring 66, and two ends of the first torsion spring 66 are respectively abutted to the second joint 2 and the third joint 3, so that the second joint 2 is tensioned and reset.

In this embodiment, the third driving assembly 7 includes a rotating ear plate 71 fixed on the finger swing plate 4, a third rotating shaft 72 connecting the rotating ear plate 71 and the third joint 3, a third rolling bearing 73 sleeved on the third rotating shaft 72, a third mounting seat 74 arranged inside the third joint 3, a third guide block 75 and a fourth guide block 76 arranged at two ends of the rotating ear plate 71, a third traction steel wire 77, and a fourth traction steel wire 78, where the third traction steel wire 77 passes through the third guide block 75 to be connected to the third mounting seat 74, and the fourth traction steel wire 78 passes through the fourth guide block 76 to be connected to the third mounting seat 74, and is wound around the third rolling bearing 73. The third traction wire 77 and the fourth traction wire 78 are respectively connected to a power device, wherein the third traction wire 77 is used for driving the third joint 3 to move upwards, and the fourth traction wire 78 is used for driving the pair of the third joints 3 to move downwards. Meanwhile, a second torsion spring 79 is sleeved on the third rotating shaft 72, and two ends of the second torsion spring 79 are respectively abutted to the third joint 3 and the finger swing plate 4, so that the third joint 4 is tensioned and reset.

In this embodiment, first joint 1 is kept away from the one end of second joint 2 is equipped with grip block 11, be equipped with anti-skidding line on the grip block 11 to the convenience is got article and is got.

The number of joints may be not limited to three (the first joint, the second joint, and the third joint), or may be any number such as two, four, or five. Simultaneously, because actuating mechanism all adopts the steering wheel, for making things convenient for the corresponding finger joint of steering wheel drive, should overlap on each traction steel wire and establish threading pipe (brake spool), the threading pipe includes the steel wire inner tube, and the rubber tube is established to steel wire inner tube surface cover, the one end of threading pipe is supported and is leaned on corresponding steering wheel, and the other end supports and leans on corresponding guide block, and corresponding steering wheel starts when needing the corresponding joint motion of drive, and the steel wire inner tube can not produce relative flexible to make the corresponding traction steel wire of steering wheel drive corresponding joint remove, realize the work of each finger.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A manipulator finger, its characterized in that: including actuating mechanism and first joint, second joint, third joint and the finger swing board that rotates the connection in proper order, the other end that the finger swings the board is used for connecting the manipulator palm, actuating mechanism is used for the drive first joint the second joint reaches the third joint rotates, the second joint with between the third joint with it is equipped with the elastic component to point between the swing board.

2. The robot finger of claim 1, wherein: the driving mechanism comprises a first driving assembly for driving the first joint, a second driving assembly for driving the second joint and a third driving assembly for driving the third joint.

3. The robot finger of claim 2, wherein: the first driving assembly comprises a first rotating shaft connected with the first joint and the second joint, a first rolling bearing sleeved on the first rotating shaft, a first mounting seat arranged in the first joint, a first guide block arranged on the second joint, a first traction steel wire and a fifth traction steel wire, wherein the first traction steel wire and the fifth traction steel wire penetrate through the first guide block to be connected with the first mounting seat, the first traction steel wire is abutted to the upper side of the first rolling bearing, and the fifth traction steel wire is abutted to the lower side of the first rolling bearing.

4. The robot finger of claim 2, wherein: the second driving assembly comprises a second rotating shaft connected with the second joint and the third joint, a second rolling bearing sleeved on the second rotating shaft, a second mounting seat arranged inside the second joint, a second guide block arranged on the third joint, a second traction steel wire and a sixth traction steel wire, the second traction steel wire and the sixth traction steel wire penetrate through the second guide block to be connected with the second mounting seat, the second traction steel wire is abutted to the upper side of the second rolling bearing, and the sixth traction steel wire is abutted to the lower side of the second rolling bearing.

5. The robot finger of claim 4, wherein: and a first torsion spring is sleeved on the second rotating shaft, and two ends of the first torsion spring are respectively abutted to the second joint and the third joint.

6. The robot finger of claim 1, wherein: the third driving assembly comprises a rotating lug plate fixedly arranged on the finger swinging plate, a third rotating shaft connected with the rotating lug plate and the third joint, a third rolling bearing sleeved on the third rotating shaft, a third installation seat arranged inside the third joint, a third guide block and a fourth guide block which are arranged at two ends of the rotating lug plate, a third traction steel wire and a fourth traction steel wire, wherein the third traction steel wire penetrates through the third guide block to be connected with the third installation seat, and the fourth traction steel wire penetrates through the fourth guide block to be connected with the third installation seat and is wound on the third rolling bearing.

7. The robot finger of claim 6, wherein: and a second torsion spring is sleeved on the third rotating shaft, and two ends of the second torsion spring are respectively abutted to the third joint and the finger swinging plate.

8. The robot finger of claim 1, wherein: one end, far away from the second joint, of the first joint is provided with a clamping plate, and anti-skidding lines are arranged on the clamping plate.