CN215942960U

CN215942960U - High-flexibility bionic manipulator structure

Info

Publication number: CN215942960U
Application number: CN202122593659.0U
Authority: CN
Inventors: 徐航
Original assignee: Suzhou Selward Internet Of Things Technology Co ltd
Current assignee: Suzhou Selward Internet Of Things Technology Co ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-03-04
Anticipated expiration: 2031-10-27

Abstract

The utility model discloses a high-flexibility bionic manipulator structure.A wrist swinging steering engine and a plurality of finger steering engines are fixedly arranged in a cavity of a mechanical forearm, a sector gear is arranged on a palm rotating shaft of a mechanical wrist, a driving gear is arranged on the wrist swinging steering engine, and the driving gear is meshed with the sector gear; the palm framework of the mechanical palm is connected with the sector gear to drive the mechanical palm to swing; the mechanical palm at least comprises three fingers which are arranged on a palm framework, namely a thumb, an index finger and a middle finger, wherein the first section of the index finger and the middle finger is connected with a telescopic cylinder, and the rest of the finger sections and the thumb are controlled by corresponding steering engines through finger traction ropes connected with the steering engines; the tail end of the mechanical small arm is provided with a small arm rotary steering engine, an output shaft of the small arm rotary steering engine is connected with a flange bearing through a small arm rotary steering wheel disc, and the flange bearing is connected with a small arm elbow piece through a connecting flange. The utility model has the advantages of accurate control of wrist swing, powerful swing, flexible finger control and stronger load capacity.

Description

High-flexibility bionic manipulator structure

Technical Field

The utility model relates to a bionic manipulator, in particular to a high-flexibility bionic manipulator structure, and belongs to the technical field of robots.

Background

The existing robot, the hand action is realized, especially imitates the action of human fingers, and the bionic manipulator of the all-round action of wrist, because wrist swing and slewing mechanism need to be considered, so lead to its main overall arrangement to place micro motor in narrow and small palm and finger space, lead to its structure complicated, and this kind of design has led to its moment not big again, the load capacity is weak, the finger flexibility is poor, the practicality is weak, the finger action of the bionic manipulator that current rope drove can not control like the staff festival, can only realize and snatch the action, can not realize holding between the fingers the action, make the manipulator finger only realized nimble crooked and snatch big object, but can not snatch small object in a flexible way.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model provides a bionic manipulator structure which is as flexible and powerful as a human hand.

In order to achieve the technical purpose, the utility model adopts the technical scheme that: a high-flexibility bionic manipulator structure comprises a mechanical forearm, a mechanical wrist and a mechanical palm, wherein the mechanical forearm is provided with a cavity and is connected with the mechanical wrist; the palm framework of the mechanical palm is connected with the sector gear to drive the mechanical palm to swing; the mechanical palm at least comprises three fingers which are arranged on a palm framework, namely a thumb, an index finger and a middle finger, wherein the first section of the index finger and the middle finger is connected with a telescopic cylinder, and the rest of the finger sections and the thumb are controlled by corresponding steering engines through finger traction ropes connected with the steering engines; the tail end of the mechanical small arm is provided with a small arm rotary steering engine, an output shaft of the small arm rotary steering engine is connected with a flange bearing through a small arm rotary steering wheel disc, and the flange bearing is connected with a small arm elbow piece through a connecting flange.

Furthermore, the telescopic cylinder connected with the first section of the index finger and the middle finger is an action cylinder, the steering engine is connected with the driving cylinder, the action cylinder and the driving cylinder are single-action spring self-resetting cylinders, an oil port of the driving cylinder is connected with an oil port of the action cylinder through an oil pipe, a retracting state of the driving cylinder is an extending state of the action cylinder, and an oil outlet and an oil inlet of the driving cylinder are connected with an oil inlet and an oil outlet of the action cylinder through two oil pipes to form driving.

Further, the first section of forefinger is articulated with the forefinger base, and the forefinger base is articulated with the metacarpal frame and the articulated direction is perpendicular with the crooked direction of forefinger, makes to have an adjustable contained angle between forefinger and the middle finger, presss from both sides tight haulage rope one end and connects in the forefinger base and be close to one side of middle finger, draws forefinger and middle finger to close up tightly, and the forefinger base is being close to the thumb side, and the metacarpal frame between the installation elastic material be used for closing up the reset after pressing from both sides tightly.

Furthermore, the small arm rotary rudder disc is a flange with a semi-annular hole, the center of the flange is provided with a spline, and the semi-annular hole is used for penetrating a traction rope or a power line.

Furthermore, a fixing support is arranged in a mechanical forearm shell at the fixed position of the finger steering engine and the wrist swinging steering engine, the rope pipe and the control panel are fixed on the fixing support, a wireless communication module is arranged on the control panel, the control panel is externally connected with a power supply line, and a control signal is transmitted to the control panel through the wireless module.

Furthermore, the shell of the mechanical small arm consists of a lower shell, a wrist shell and an upper shell; the finger traction ropes and the wrist swinging traction ropes are respectively penetrated in the traction rope pipelines, one end of each finger traction rope is connected with a finger tail end knuckle, and the other end of each finger traction rope is connected with the finger steering engine through a grooved wheel.

Furthermore, the mechanical wrist comprises a palm rotating shaft, a sector gear and a cross-shaped wire frame, wherein the palm rotating shaft is rotationally fixed in a cavity formed by buckling a lower shell of the mechanical forearm and a wrist shell, a central shaft through hole of the sector gear is sleeved and fixed on the palm rotating shaft, the cross-shaped wire frame is provided with a vertical rod provided with a plurality of through holes and a transverse rod vertically connected with the vertical rod, a through groove is formed in the transverse rod and used for allowing the sector gear to penetrate through a meshing part of the driving gear, a clamping plate is arranged on the transverse rod and clamped with the lower shell and the wrist shell.

Furthermore, a plurality of through holes are arranged on the vertical rod of the cross wire frame in an array mode, the through holes are only used for penetrating through the traction rope, and the cross wire frame is clamped between the small-arm wrist shell and the lower shell.

The beneficial technical effects of the utility model are as follows:

1. the wrist swing control is accurate, the swing is powerful, the finger control is flexible, the mounting space of the steering engine is large, and the load capacity is stronger;

2. the whole arm has compact structure, convenient installation and maintenance and low cost;

3. the routing is greatly simplified, and the failure rate is reduced.

Drawings

The utility model is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the cross-shaped wire frame structure of the present invention;

FIG. 3 is a schematic view of a first section of the index finger;

FIG. 4 is a schematic view of the base structure of the index finger;

fig. 5 is a schematic diagram of a palm skeleton structure.

In the figure: 1. the device comprises a first middle finger section, a first index finger section, a first action oil cylinder, a second action oil cylinder, a third action oil cylinder, a fourth action oil cylinder, a fifth action wheel, a fifth wheel.

Detailed Description

The high-flexibility bionic manipulator structure shown in the figures 1-5 comprises a mechanical forearm with a cavity, a mechanical wrist and a mechanical palm, wherein the mechanical forearm is connected with the mechanical wrist, a wrist swinging steering engine and a plurality of finger steering engines are fixedly arranged in the cavity of the mechanical forearm, 19 in the figure 1 indicates one of the steering engines, a sector gear 8 is arranged on a palm rotating shaft 6 of the mechanical wrist, a driving gear 11 is arranged on the wrist swinging steering engine, and the driving gear 11 is meshed with the sector gear 8; the metacarpal framework 5 of the mechanical palm is connected with the sector gear 8, and the drive gear 8 drives the mechanical palm to swing; the mechanical palm at least comprises three fingers which are arranged on a palm framework 5 and are respectively a thumb, an index finger and a middle finger, wherein a first section 2 of the index finger and a first section 1 of the middle finger are both connected with an action oil cylinder 3, the rest of the finger sections and the thumb are connected and controlled by corresponding steering engines through finger traction ropes connected with the steering engines, and 14 in the figure 1 indicates one of the traction ropes; the tail end of the mechanical small arm is provided with a small arm rotating steering engine 20, an output shaft of the small arm rotating steering engine 20 is connected with a flange bearing 22 through a small arm rotating steering wheel 21, and the flange bearing 22 is connected with a small arm elbow 24 through a connecting flange 23.

The actuating cylinders 3 of the first index finger section 2 and the first middle finger section 1 are driven by a driving cylinder 17 connected with a steering engine 19, an oil outlet and an oil inlet of the driving cylinder 17 are reversely connected with an oil inlet and an oil outlet of the actuating cylinder 3 through two oil pipes 26, and a ball head pull rod 18 of the driving cylinder 17 is connected with the steering engine 19 to control the stretching of the driving cylinder 17 and reversely control the actuating cylinder 3.

The first section 2 of forefinger is articulated with forefinger base 4, and forefinger base 4 is articulated and articulated direction is perpendicular with the crooked direction of forefinger with palm skeleton 5, makes to have an adjustable contained angle between forefinger and the middle finger, presss from both sides tight haulage rope one end and connects in the forefinger base one side of being close to the middle finger, draws forefinger and middle finger to close up tightly, and forefinger base 4 is being close to the thumb side, and palm skeleton 5 between the installation elastic material be used for closing up the reset after pressing from both sides tightly.

The small arm rotary rudder disk 21 is a flange with a semi-annular hole, the center of the flange is provided with a spline, and the semi-annular hole is used for penetrating a traction rope 11 or a power line.

Set up fixed bolster 12 in the mechanical forearm casing of finger steering wheel and wrist swing steering wheel fixed department, rope pipe 25 and control panel 13 are fixed on fixed bolster 12, set up wireless communication module on the control panel 13, and control panel 13 external power supply line, control signal transmit to control panel 13 through wireless module.

The shell of the mechanical forearm consists of a lower shell 7, a wrist shell 10 and an upper shell 16; the finger haulage rope and the wrist swing haulage rope all wear in respective haulage rope pipeline, and finger haulage rope one end is connected the terminal knuckle of finger, and the other end passes through sheave 15 and connects the finger steering wheel.

Mechanical wrist includes palm pivot 6, sector gear 8, cross line frame 9, wherein palm pivot 6 is rotatory to be fixed in the cavity that is formed by the lower casing of mechanical forearm and the lock of wrist casing 10, sector gear 8's center pin through-hole cup joints and fixes in palm pivot 6, cross line frame 9 has a montant that is provided with a plurality of through-hole and the horizontal pole of being connected perpendicularly with the montant, it has logical groove to open on the horizontal pole, be used for sector gear and drive gear meshing part to pass, set up the cardboard on the horizontal pole, cardboard and lower casing and the 10 joints of wrist casing.

A plurality of through holes are arranged on the vertical rod of the cross-shaped wire passing frame 9 in an array mode and used for penetrating the traction rope 14 and clamping the rope pipe 25.

As can be seen from the examples, the advantages of the present invention are: the wrist swing control is accurate, the swing is powerful, the finger control is flexible, the mounting space of the steering engine is large, and the load capacity is stronger; the whole arm has compact structure, convenient installation and maintenance and low cost; the routing is greatly simplified, and the failure rate is reduced.

Claims

1. The utility model provides a high flexibility bionic machinery hand structure, is including having mechanical forearm, mechanical wrist and the mechanical palm that holds the chamber, and mechanical wrist, its characterized in that are connected to mechanical forearm: a wrist swing steering engine and a plurality of finger steering engines are fixedly arranged in the cavity of the mechanical small arm, a sector gear is arranged on a palm rotating shaft of the mechanical wrist, a driving gear is arranged on the wrist swing steering engine, and the driving gear is meshed with the sector gear; the palm framework of the mechanical palm is connected with the sector gear to drive the mechanical palm to swing; the mechanical palm at least comprises three fingers which are arranged on a palm framework, namely a thumb, an index finger and a middle finger, wherein the first section of the index finger and the middle finger is connected with a telescopic cylinder, and the rest of the finger sections and the thumb are controlled by corresponding steering engines through finger traction ropes connected with the steering engines; the tail end of the mechanical small arm is provided with a small arm rotary steering engine, an output shaft of the small arm rotary steering engine is connected with a flange bearing through a small arm rotary steering wheel disc, and the flange bearing is connected with a small arm elbow piece through a connecting flange.

2. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: the small arm rotary rudder disc is a flange with a semi-annular hole, the center of the flange is provided with a spline, and the semi-annular hole is used for penetrating a traction rope or a power line.

3. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: a fixing support is arranged in a mechanical forearm shell at the fixed position of the finger steering engine and the wrist swinging steering engine, a rope pipe and a steering engine control panel are fixed on the fixing support, a wireless communication module is arranged on the steering engine control panel, the steering engine control panel is externally connected with a power supply line, and a control signal is transmitted to the steering engine control panel through the wireless module.

4. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: the shell of the mechanical forearm consists of a lower shell, a wrist shell and an upper shell; the finger traction ropes and the wrist swinging traction ropes are respectively penetrated in the traction rope pipelines, one end of each finger traction rope is connected with a finger tail end knuckle, and the other end of each finger traction rope is connected with the finger steering engine through a grooved wheel.

5. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: mechanical wrist includes the palm pivot, sector gear, the cross frame of crossing, wherein the rotation of palm pivot is fixed in the cavity that is formed by the lower casing of mechanical forearm and wrist casing lock, sector gear's center pin through-hole cup joints and fixes in the palm pivot, the cross frame of crossing has a montant that is provided with a plurality of through-hole and the horizontal pole of being connected perpendicularly with the montant, it has logical groove to open on the horizontal pole, be used for sector gear and drive gear meshing part to pass, set up the cardboard on the horizontal pole, cardboard and lower casing and wrist casing joint.

6. The high flexibility biomimetic manipulator structure in accordance with claim 5, wherein: a plurality of through holes are arrayed on a vertical rod of the cross wire passing frame, the through holes are only used for penetrating through the traction rope, and the cross wire passing frame is clamped between the small arm wrist shell and the lower shell.

7. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: the telescopic cylinder connected with the first section of the index finger and the middle finger is an action cylinder, the steering engine is connected with a driving cylinder, the action cylinder and the driving cylinder are single-action spring self-resetting cylinders, an oil port of the driving cylinder is connected with an oil port of the action cylinder through an oil pipe, and the retracted state of the driving cylinder is the extended state of the action cylinder to form driving.

8. The high flexibility biomimetic manipulator structure in accordance with claim 1, wherein: the first section of forefinger is articulated with the forefinger base, and the forefinger base is articulated and articulated direction is perpendicular with forefinger bending direction with the metacarpal skeleton, makes to have an adjustable contained angle between forefinger and the middle finger, presss from both sides tight haulage rope one end and connects in the forefinger base and be close to one side of middle finger, draws forefinger and middle finger to close up and press from both sides tightly, and the forefinger base is being close to the thumb side, and the palm skeleton between the installation elastic material be used for closing up the reset after pressing from both sides tightly.