CN216577946U

CN216577946U - Knuckle nested structure and manipulator

Info

Publication number: CN216577946U
Application number: CN202122442270.6U
Authority: CN
Inventors: 孔润中; 吴振民; 王涵宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2022-05-24
Anticipated expiration: 2031-10-11

Abstract

The utility model discloses a knuckle nesting structure and a manipulator; the manipulator comprises at least one knuckle nesting structure; the knuckle nesting structure comprises a plurality of knuckles and a plurality of silk threads; the knuckle comprises a pulley fixed at one end of the knuckle; the knuckles are sequentially arranged, and each pulley is rotatably connected with the other end of the adjacent knuckle so as to rotate around the axis of the pulley; one end of at least one silk thread is wound on the pulley, and the end part of the silk thread is fixedly connected with the working circumference of the pulley; the other end of each silk thread sequentially passes through the axis of each pulley at the front end of each silk thread and is used for being connected with a driving device; and when each pulley rotates, the wire of the knuckle without control action is in a straight line between the working circumference of the pulley and the axis of the adjacent pulley, between the axes of the adjacent pulleys and between the axis of the pulley and the driving device. The utility model improves the flexibility of the knuckle nested structure and the manipulator, solves the control coupling among the knuckles, and improves the control efficiency and quality.

Description

Knuckle nested structure and manipulator

Technical Field

The utility model belongs to the technical field of bionic machinery, and particularly relates to a knuckle nested structure and a manipulator.

Background

In the design of finger joints or toe joints of a bionic machine, the more flexible the control of each joint is, the better the functional action based on grabbing or balancing.

The knuckles and knuckles of fingers or toes of the existing bionic manipulator are in linkage control, so that the bending and stretching of a single knuckle can not be independently controlled, and the flexibility is insufficient.

Disclosure of Invention

The utility model provides a knuckle nesting structure and a manipulator, which can independently control independent bending and stretching of each knuckle and improve the flexibility of the knuckle and the manipulator.

In order to solve the technical problems, the utility model adopts the following technical scheme:

a knuckle nesting structure comprises a plurality of knuckles and a plurality of silk threads;

the knuckle comprises a pulley which is fixedly arranged at one end of the knuckle; the knuckles are sequentially arranged, and each pulley is rotatably connected with the other end of the adjacent knuckle, so that the pulley can rotate around the axis of the pulley;

one end of at least one silk thread is wound on the working circumference of the pulley, and the end part of the silk thread is fixedly connected with the working circumference of the pulley; the other end of each silk thread sequentially passes through the axis of each pulley at the front end and is used for being connected with a driving device respectively; and when the pulleys rotate, the silk threads of the pulleys without control action are straight lines between the working circumference of the pulleys and the axes of the adjacent pulleys, between the axes of the adjacent pulleys and between the axes of the pulleys and the driving device.

In one embodiment, the pulley comprises a rotating shaft and a pulley body; the rotating shaft is fixedly connected with the wheel body; the rotating shaft is rotatably connected with the other end of the adjacent knuckle;

one end or two ends of the rotating shaft are provided with at least one radial first through hole passing through the axis of the rotating shaft; the longitudinal section of the opening of the first through hole towards the front end direction is in a flaring shape in the circumferential direction; the other end of each silk thread passes through each first through hole at the front end in sequence.

In one embodiment, the knuckle further comprises a rotating shaft which is fixedly arranged at the other end of the knuckle and is rotatably connected with the adjacent pulley;

one end or two ends of the rotating shaft are provided with at least one radial first through hole passing through the axis of the rotating shaft; the longitudinal section of the opening of the first through hole towards the rear end direction is in a flaring shape in the circumferential direction; the other end of each silk thread passes through each first through hole at the front end in sequence.

In some embodiments, the longitudinal cross section of the opening of the first through hole on both sides of the axis of the rotating shaft is in a flaring shape in the circumferential direction.

In one embodiment, the knuckle further comprises a finger body; the pulley and the finger body are arranged in a split manner;

one end of the finger body is fixedly connected with the pulley, the other end of the finger body is provided with a second through hole or two coaxial second through holes, and the second through holes or the two coaxial second through holes are positioned at one side or two sides of the pulley of the adjacent knuckle and are rotatably connected with the rotating shaft of the adjacent knuckle.

In one embodiment, the pulley includes a first portion and a second portion, each of which includes a first connecting surface and a second connecting surface, and the first connecting surface and the second connecting surface are respectively provided with a first groove and a second groove; the first connecting surface and the second connecting surface are matched in installation and are fixedly connected together; the first groove and the second groove are correspondingly connected to form a third hole which is a through hole or a blind hole;

at least one fourth through hole is formed in the first portion and/or the second portion and communicated with the working circumference of the wheel body and the third hole;

one end of the silk thread penetrates through the fourth through hole and the third hole and is fixedly connected with the third hole.

In one embodiment, the rotating shaft is integrally arranged with the wheel body; the first connecting surface and the second connecting surface penetrate through the axis of the pulley; the first groove and the second groove are arranged along the axis of the rotating shaft.

In an embodiment, the first portion comprises a first shaft body comprising a shaft end, a spindle body; the shaft end is a cylinder; the main shaft body is a cylinder, the external outline of the cross section of the main shaft body is two arcs which are connected end to end and respectively are a first arc and a second arc; the diameters of the first arc and the second arc are equal to the diameter of the shaft end; the shaft end is axially and fixedly connected with the main shaft body and is coaxial with the first arc;

the second part comprises a second shaft body which is a cylinder body radially mounted and matched with the main shaft body, and when the first shaft body is radially connected with the second shaft body, the second shaft body and the main shaft body form a cylinder with the same diameter as the shaft end; the second shaft body is coaxial with the second circular arc.

In some embodiments, the finger body is a split structure, and comprises a third part and a fourth part, and one end of the third part is fixedly connected with the pulley; the other ends of the third part and the fourth part are respectively provided with coaxial second through holes which are respectively positioned at two sides of the pulley of the adjacent knuckle and are rotatably connected with the rotating shaft.

A manipulator comprises at least one knuckle nesting structure.

Compared with the prior art, the utility model has the advantages and positive effects that: according to the knuckle nesting structure and the manipulator, the control silk threads are arranged for each knuckle, one end of at least one silk thread is connected with the working circumference of the pulley, and the pulley is driven to rotate around the axis of the pulley, so that the knuckle is driven to bend and extend, and the flexibility of the knuckle nesting structure and the manipulator is improved. In addition, one end of the silk thread is fixedly connected with the working circumference of the pulley, and the other end of the silk thread sequentially passes through the axes of the pulleys positioned at the front end of the pulley, so that when the pulley rotates, the silk thread of the pulley without control action is straight between the working circumference and the axes of the adjacent pulleys, between the axes of the adjacent pulleys and between the axis of the most front pulley and the driving device. Namely, the lengths from the silk threads of the pulleys which do not act to the driving device are kept unchanged when the knuckles are bent or stretched in the same knuckle nested structure, the alignment is not needed for carrying out adaptive adjustment control, the control complexity of the silk threads of the pulleys is reduced, the control difficulty of the silk threads is further reduced, the control coupling among the actions of the pulleys is solved, and the control efficiency and the control quality are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a manipulator according to the present invention;

fig. 2 is a schematic structural diagram of another embodiment of a robot according to the present invention;

FIG. 3 is a schematic diagram of an embodiment of a knuckle nesting structure according to the present invention;

FIG. 4 is a fragmentary structural exploded view of an embodiment of the knuckle nesting arrangement of FIG. 3;

FIG. 5 is a schematic diagram of another embodiment of a knuckle nesting structure according to the present invention;

FIG. 6 is a schematic structural diagram of a third embodiment of a knuckle nesting structure according to the present invention;

FIG. 7 is an exploded view of a portion of the structure of the embodiment of the knuckle nesting structure of FIG. 6;

FIG. 8 is an exploded view of a portion of the structure of the embodiment of the knuckle nesting structure of FIG. 6;

FIG. 9 is a schematic view of a pulley configuration;

FIG. 10 is a schematic view of a pulley configuration;

fig. 11 is an exploded view of the structure of the pulley;

fig. 12 is an exploded view of the structure of the pulley;

FIG. 13 is a schematic diagram of an exemplary construction of a finger;

FIG. 14 is a schematic structural view of another example of a body;

fig. 15 is a schematic diagram of an example of a knuckle.

In the figure, the position of the first and second end faces,

1. a knuckle; 2. a drive device; 11. a pulley; 12. a finger body; 13. a bearing; 111. A wheel body; 112. a rotating shaft; 113. a first portion; 114. a second portion; 1130. a fifth part; 1140. a sixth section; 115. a first shaft body; 116. a second shaft body; 117. a working circumference; 118. a fourth via hole; 119. a third aperture; 121. a second through hole; 122. a third portion; 123. a fourth part; 1121. a first through hole; 1122. a third shaft body; 1123. a fourth shaft body; 1124. a fifth shaft body; 1131. a first connection face; 1132. a first groove; 1141. a second connection face; 1142. a second groove; 1151. a shaft end; 1152. a main shaft body.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

Referring to fig. 1, 2, 3, 4, 5, 6, 7 and 8, the present invention discloses a knuckle nesting structure and a robot.

The knuckle nesting structure comprises a plurality of knuckles 1 and a plurality of wires. The knuckle 1 comprises a pulley 11 which is fixedly arranged at one end of the knuckle 1; pulley 11 includes a working circumference 117; one end of at least one wire is fixedly connected to the working circumference 117 of the pulley 11 and wound on the working circumference 117.

The knuckles 1 are sequentially arranged; the adjacent knuckles 1 are connected end to end. Specifically, the pulley 11 at one end of each knuckle 1 is rotatably connected with the other end of the adjacent knuckle 1, so that each pulley 11 can rotate around the axis of the pulley relative to the other end of the adjacent knuckle 1; when the other end of the control wire acts, the wire pulls the pulley 11 to rotate, so that the knuckle 1 is driven to bend or stretch relative to the adjacent knuckle 1.

One end of each wire is fixedly connected with the working circumference 117 of each pulley 11, and the other end of each wire sequentially passes through the axis of each pulley 11 at the front end for being respectively connected with the driving device 2. The driving device 2 tightens and loosens the other ends of the two wires connected to the same pulley 11, driving the wire-drawing pulley 11 to rotate around its axis, completing the bending or stretching action of the knuckle 1. And as the pulley 11 rotates, the wires of the pulley 11 without control action are all rectilinear between the working circumference 117 of the pulley 11 and the axis of the adjacent pulley 11, between the axes of the adjacent pulleys 11, and between the axis of the frontmost pulley 11 and the drive means 2.

Each pulley 11 is respectively provided with at least two silk threads, so that the rotation of each pulley 11 is independently controlled, the independent control of the bending or stretching of each knuckle 1 is further improved, and the flexibility of the movement of the knuckle nested structure is improved.

The manipulator comprises at least one knuckle nesting structure, and each knuckle 1 of each knuckle nesting structure is bent and extended under the control of a silk thread, so that the control flexibility of the manipulator is improved.

The following describes in detail the specific structure and principle of the knuckle nesting structure and manipulator of the present invention with specific embodiments.

In one embodiment, each knuckle 1 of the knuckle nesting structure and the manipulator is wound around the working circumference 117 of the pulley 11 through a wire, and the end part of each knuckle is fixed on the working circumference 117 of the pulley 11, so that the bending action of the knuckle 1 in one direction is controlled; an elastic element is arranged on the pulley 11, so that the pulley 11 can realize the return in the opposite direction through the elastic element according to the release length of the silk thread.

In the embodiment, the elastic element for resetting is arranged, so that the control complexity of the knuckle nested structure and the manipulator is reduced, and the control efficiency is improved.

In one embodiment, the knuckle nesting structure and each knuckle 1 of the manipulator are provided with two wires; one end of the two wires is fixedly connected to the working circumference 117 of the pulley 11 and the opposite direction is wound around the working circumference 117 of the pulley 11.

The knuckle nesting structure and each knuckle 1 of the manipulator are respectively controlled by two silk threads pulled in different directions of the pulley 11; the wire of each knuckle 1 at the rear end is connected to a driving device 2 for driving each knuckle 1 to bend or stretch after passing through the axis of each pulley 11 at the front end thereof in sequence. When the knuckle 1 at the front end is bent or stretched, the silk thread of the pulley 11 without control action at the rear end keeps a straight line state between the axes of the adjacent pulleys 11, and further the lengths of the silk thread between the working circumference 117 and the axes of the adjacent pulleys 11, between the axes of the adjacent pulleys 11 and between the axis of the most front pulley 11 and the driving device 2 are kept unchanged, so that the silk thread of the knuckle 1 without control action is not required to be adaptively controlled to be tensioned or loosened, the control difficulty of the knuckle nesting structure and the manipulator is reduced, the knuckle nesting structure and the control logic of the manipulator are simplified, and the control accuracy and the control efficiency of the knuckle nesting structure and the manipulator are improved.

In an embodiment, referring to fig. 1, 3, 4, 9, 10, 11 and 12, the pulley 11 includes a rotating shaft 112 and a wheel body 111; the rotating shaft 112 is fixedly connected with the wheel body 111; the rotation shaft 112 is rotatably connected to the other end of the adjacent knuckle 1.

At least one radial first through hole 1121 passing through the axis is respectively formed at one end or both ends of the rotating shaft 112; the longitudinal section of the opening of the first through hole 1121 toward the front end is a flared shape in the circumferential direction of the rotating shaft 112, such as a bell mouth shape or a fan shape or a triangular shape. The other end of the wire connected to the pulley 11 at the rear end passes through the first through holes 1121 of the pulleys 11 at the front end in sequence.

The first through holes 1121 may be aligned with or not aligned with the two sides of the axis of the rotating shaft 112.

The rotating shaft 112 of the knuckle nesting structure of the embodiment is fixedly connected with the wheel body 111; when the wheel body 111 rotates, the rotating shaft 112 rotates with the wheel body 111 at the same angle; at least one radial first through hole 1121 penetrating through the axis is formed at the end of the rotating shaft 112; when the other end of the silk thread connected with the pulley 11 at the rear end passes through the first through hole 1121 on the pulley 11 at the front end, the length of the silk thread in the first through hole 1121, the length of the silk thread to the working circumference 117 of the pulley 11 and the length of the silk thread to the pulley 11 at the front end are not changed, the coupling of control among the finger joints 1 is released, the silk thread of the finger joint 1 without control action does not need to be adaptively controlled to be tensioned or loosened, the control difficulty of the finger joint nesting structure is reduced, the control logic of the finger joint nesting structure is simplified, and the control quality and the control efficiency of the finger joint nesting structure are improved.

Embodiments of the manipulator of the present invention include at least one knuckle nesting structure as described above. The control difficulty of the manipulator is reduced, the control logic of the manipulator is simplified, and the control quality and the control efficiency of the manipulator are improved.

In one embodiment, referring to fig. 1, 2, 5, 6 and 7, the knuckle 1 further includes a rotating shaft 112 fixed to the other end of the knuckle 1 and rotatably connected to the adjacent pulley 11.

At least one first through hole 1121 is disposed at one end, two ends, or a middle portion of the rotating shaft 112, and a longitudinal cross section of an opening of the first through hole 1121, which faces the rear end, is in a flared shape in a circumferential direction of the rotating shaft 112, such as a flared shape, or a fan shape, or a triangular shape, through which a wire connected to the pulley 11 at one end and the rear end passes.

Embodiments of the manipulator of the present invention include at least one knuckle nesting structure as described above.

In this embodiment, in order to implement another embodiment of the knuckle nesting structure and the manipulator for respectively controlling each knuckle 1, when the other end of the silk thread connected to the pulley 11 at the rear end passes through the first through hole 1121 on the pulley 11 at the front end, straight lines with unchanged lengths are formed between the working circumference 117 and the axis of the adjacent pulley 11, between the axes of the adjacent pulleys 11, and between the axis of the most front pulley 11 and the driving device 2, so that the problem of coupling of control of each knuckle 1 is solved, the silk thread of the knuckle 1 without control action is tensioned or loosened without adaptive control, the control difficulty of the knuckle nesting structure is reduced, the control logic of the knuckle nesting structure is simplified, and the control quality and the control efficiency of the knuckle nesting structure are improved.

In some embodiments, referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, longitudinal cross sections of the opening of the first through hole 1121 toward the front end and the opening toward the rear end are both flared shapes, such as a flared shape or a fan shape or a triangular shape, in the circumferential direction of the rotating shaft 112. That is, the longitudinal interfaces of the portions of the first through holes 1121 located on both sides of the axis of the rotating shaft 112 are each a flared shape in the circumferential direction of the rotating shaft 112.

The rotating shaft 112 of the knuckle nesting structure of the embodiment is suitable for the installation mode of being fixedly connected with the wheel body 111 or being relatively fixed with the knuckle 1, so that the limitation of the installation mode of the rotating shaft 112 is reduced, and the applicability is improved.

The embodiment of the manipulator of the utility model comprises at least one knuckle nesting structure, so that the limitation of the installation mode of the rotating shaft 112 is reduced, and the applicability is improved.

In an embodiment, referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, and fig. 15, the knuckle 1 further includes a finger body 12, which is a long body structure, and implements the length function of the knuckle 1.

One end of the finger 12 is fixedly connected with the pulley 11, and the other end is provided with a second through hole 121 or two coaxial and concentric second through holes 121, which are located on one side or two sides of the pulley 11 of the adjacent knuckle 1 and rotatably connected with the rotating shaft 112 of the adjacent knuckle 1, so as to realize the bending and extension of the knuckle 1 relative to the adjacent knuckle 1.

The manipulator of the utility model comprises the above-described nested structure of at least one knuckle 1.

In one embodiment, referring to fig. 1, 2, 5, 6, 7 and 8, the knuckle 1 is a one-piece structure, and for easy installation, one end of the knuckle 1 is provided with the pulley 11, and the other end is provided with a second through hole 121 for rotatably connecting with the pulley 11 of the adjacent knuckle 1.

The axes of the pulley 11 and the second through hole 121 of the knuckle 1 of the embodiment are not parallel, the rotation direction of the adjacent knuckle 1 is changed, and the device can be applied to a manipulator with special bending and stretching requirements, such as a thumb of a manipulator of a bionic human hand.

In an embodiment, referring to fig. 1, 2, 5, 6, 7 and 8, the one-piece knuckle 1 having an axis of the pulley 11 and an axis of the second through hole 121 have an angle, is provided with a first through hole 1121, the axis of which passes through the axis of the pulley 11, has a flared rear end opening, and is disposed inside the knuckle 1 to meet the needs of bending and stretching in different directions of the small knuckle 1 and the adjacent knuckle 1.

The embodiment enriches the knuckle nested structure and the function of the manipulator.

In an embodiment, referring to fig. 1, 3, 4, 9, 10, 11 and 12, the pulley 11 and the finger 12 are separately provided; the pulley 11 includes a first portion 113, a second portion 114, which include a first connection face 1131, a second connection face 1141, respectively; the first connection surface 1131 is adapted to be connected to the second connection surface 1141; a first groove 1132 and a second groove 1142 are respectively arranged on the first connecting surface 1131 and the second connecting surface 1141; the first connecting surface 1131 is fixedly connected to the second connecting surface 1141, and the first recess 1132 is connected to the second recess 1142 to form the third hole 119, which is a blind hole or a through hole.

At least one fourth through hole 118 is provided in the first portion 113 and/or the second portion 114, which communicates the working circumference 117 of the pulley 11 with a third hole 119, respectively.

Preferably, the first portion 113 and the second portion 114 are respectively provided with a fourth through hole 118, which respectively communicates the working circumference 117 of the first portion 113 with the first groove 1132 and the working circumference 117 of the second portion 114 with the second groove 1142.

When mounting, one end of the wire first passes through the fourth through hole 118 and then is disposed in the first groove 1132 or the second groove 1142; when the first portion 113 is fixedly connected to the second portion 114, the ends of the wire are located in the third aperture 119; and fixedly connect the ends of the wires with the third aperture 119.

Embodiments of the manipulator of the present invention include the knuckle nesting arrangement described above.

According to the knuckle nesting structure and the manipulator, the pulley 11 is arranged in a split manner, and the silk thread is arranged in the pulley 11 in a bending manner, so that the stability of fixing the silk thread is improved; the pulley 11 is arranged in a split mode, so that the end portion of the silk thread can be conveniently installed and arranged.

The knuckle nesting structure and the manipulator of the embodiment fix the silk thread with the inside of the pulley 11, reduce the volume of the pulley 11, further reduce the volume of the connection structure of the knuckle 1 and the knuckle 1, and reduce the volume of the manipulator joint.

In an embodiment, referring to fig. 1, 3, 4, 9, 10, 11 and 12, the wheel body 111 and the rotating shaft 112 are integrally disposed. The first groove 1132 and the second groove 1142 are arranged along the axis of the rotating shaft 112; the third hole 119 is located on the axis of the rotation shaft 112; the first portion 113 is fixedly connected with the second portion 114; the end of one end of the wire is fixedly connected to the third hole 119 at the end of the rotary shaft 112 by a screw.

Of course, the end of one end of the wire may be fixedly connected to the third hole 119 by means of a super glue or a combination of a screw and a super glue.

Of course, the first and

second grooves

1132 and 1142 may not be disposed along the axis of the rotating shaft 112, so that the opening of the third hole 119 is located on the side surface of the wheel body 111 of the pulley 11, and the end of one end of the wire is fixed to the side surface of the wheel body 111 through the third hole 119.

In some embodiments, referring to fig. 1, 3, 4, 9, 10, 11 and 12, the rotation shaft 112 includes a third shaft body 1122 and a fourth shaft body 1123, which are fixedly connected or integrally connected to the first portion 113 and the second portion 114, respectively. The third shaft body 1122 includes a plurality of sections of cylinders with sector cross sections or a cylinder with sector cross sections; the fourth shaft 1123 comprises a plurality of sections of cylinders with sector cross sections or a cylinder with sector cross sections; when the first portion 113 is fixedly connected to the second portion 114, the third shaft 1122 is connected to the fourth shaft 1123, and a first through hole 1121 is formed, wherein the longitudinal section of the through hole is a flared shape in the circumferential direction of the rotating shaft 112, or the longitudinal sections of the through holes are both flared shapes in the circumferential direction of the rotating shaft 112.

The knuckle nesting structure and the first through hole 1121 of the manipulator of the embodiment are easier to process and have higher processing efficiency.

In an embodiment, referring to fig. 1, 3, 4, 9, 10, 11 and 12, the first portion 113 or the second portion 114 further includes a fifth shaft 1124, which is a cylinder, connected to one end of the third shaft 1122 or the fourth shaft 1123, and located outside the first through hole 1121 for rotatably connecting to the other end of the adjacent knuckle 1.

In one embodiment, referring to fig. 1, 2, 5, 6, 7 and 8, when the axis of the pulley 11 at one end of the knuckle 1 is not parallel to the axis of the second through hole 121 at the other end of the knuckle 1, the knuckle 1 includes a fifth portion 1130 and a sixth portion 1140, which respectively include a third connecting surface and a fourth connecting surface that are adapted to be connected; the third connecting surface and the fourth connecting surface pass through the axis of the pulley 11.

The knuckle nesting structure and the manipulator of the embodiment facilitate the fixation of the silk thread by the pulley 11 of the knuckle 1, wherein the pulley 11 and the finger body 12 are integrally arranged.

In some embodiments, referring to fig. 8, the rotating shaft 112 includes a first shaft body 115 and a second shaft body 116, which are fixedly connected or fixedly integrated with the fifth portion 1130 and the sixth portion 1140, respectively. The first shaft body 115 comprises a shaft end 1151 and a main shaft body 1152; the shaft end 1151 is a cylinder; the spindle body 1152 is a cylinder, and the outer contour of the cross section of the spindle body is two arcs connected end to end, namely a first arc and a second arc; the diameter of the circle of the first circular arc and the second circular arc is equal to the diameter of the shaft end 1151. The shaft end 1151 is coaxially and axially fixedly connected with the first arc of the main shaft body 1152.

The second shaft body 116 is a cylinder coaxially and radially mounted and adapted with the main shaft body 1152, and the second shaft body 116 is radially connected with the main shaft body 1152, so that the fifth shaft body 1124 is coaxial with the second arc to form a cylinder, which is coaxial with the shaft end 1151 and has the same diameter and different axes.

The manipulator of the utility model comprises the knuckle nesting structure.

When the knuckle nesting structure and the knuckle 1 of the manipulator are connected with the adjacent knuckle 1, firstly, the second through hole 121 is fixedly connected with the bearing 13; then, the fourth shaft 1123 is coupled to the bearing 13, so that the shaft end 1151 is located outside the bearing 13; finally fifth shaft 1124 is mounted in bearing 13 with shaft end 1151 fixed to the outside of bearing 13, thereby securing shaft 112 with bearing 13.

Of course, the first shaft body 115 and the second shaft body 116 are configured to form a shaft end 1151 with a convex circumference and a non-coaxial cylinder.

In one embodiment, referring to fig. 1, 3, 4, 13 and 14, the pulley 11 and the finger 12 are separately provided; the finger 12 is a split structure, and includes a third portion 122 and a fourth portion 123, one end of which is respectively located at two sides of the pulley 11, located in the radial direction of the pulley 11, and fixedly connected to the radial direction extending portion of the pulley 11. The other ends of the third and

fourth portions

122, 123 are respectively provided with a second through hole 121, which are coaxial and concentric, located at two sides of the pulley 11 of the adjacent knuckle 1, and respectively rotatably connected with the rotating shaft 112.

The manipulator of the utility model comprises a plurality of knuckle nesting structures as described above.

The knuckle nesting structure and the manipulator of the embodiment facilitate the installation of the pulley 11 and the adjacent knuckle 1, and improve the assembly efficiency.

In one embodiment, referring to fig. 1, 3, 4, 13 and 14, each second through hole 121 is rotatably connected to the rotating shaft 112 of the adjacent knuckle 1 through a bearing 13.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A knuckle nesting structure, comprising:

a plurality of knuckles; the knuckle comprises a pulley which is fixedly arranged at one end of the knuckle; the knuckles are sequentially arranged, and each pulley is rotatably connected with the other end of the adjacent knuckle, so that the pulley can rotate around the axis of the pulley;

a plurality of filaments; one end of at least one silk thread is wound on the working circumference of the pulley, and the end part of the silk thread is fixedly connected with the working circumference of the pulley; the other end of each silk thread sequentially passes through the axis of each pulley at the front end and is used for being connected with a driving device respectively; and when the pulleys rotate, the silk threads of the pulleys without control action are straight lines between the working circumference of the pulleys and the axes of the adjacent pulleys, between the axes of the adjacent pulleys and between the axes of the pulleys and the driving device.

2. The knuckle nesting structure of claim 1, wherein said pulley comprises a shaft, a wheel body; the rotating shaft is fixedly connected with the wheel body; the rotating shaft is rotatably connected with the other end of the adjacent knuckle;

3. The knuckle nesting structure of claim 1, wherein said knuckle further comprises a shaft fixedly positioned at the other end of said knuckle and rotatably connected to the adjacent pulley;

4. The knuckle nesting structure of claim 2 or 3,

the longitudinal sections of the openings of the first through hole, which are positioned on two sides of the axis of the rotating shaft, are in flaring shapes in the circumferential direction.

5. The knuckle nesting structure of claim 2, wherein said knuckle further comprises a finger body; the pulley and the finger body are arranged in a split manner;

6. The knuckle nesting structure of claim 5, wherein the pulley comprises a first portion and a second portion, each of which comprises a first connecting surface and a second connecting surface, and each of the first connecting surface and the second connecting surface is provided with a first groove and a second groove; the first connecting surface and the second connecting surface are matched in installation and are fixedly connected together; the first groove and the second groove are correspondingly connected to form a third hole which is a through hole or a blind hole;

7. The knuckle nesting structure of claim 6, wherein said spindle is integral with said wheel body; the first connecting surface and the second connecting surface penetrate through the axis of the pulley; the first groove and the second groove are arranged along the axis of the rotating shaft.

8. The knuckle nesting structure of claim 7, wherein said first portion comprises a first shaft body comprising a shaft end, a spindle body; the shaft end is a cylinder; the main shaft body is a cylinder, the external outline of the cross section of the main shaft body is two arcs which are connected end to end and respectively are a first arc and a second arc; the diameters of the first arc and the second arc are equal to the diameter of the shaft end; the shaft end is axially and fixedly connected with the main shaft body and is coaxial with the first arc;

9. The knuckle nesting structure of any one of claims 5 to 8, wherein the finger body is a split structure and comprises a third part and a fourth part, and one end of the third part and one end of the fourth part are fixedly connected with the pulley; the other ends of the third part and the fourth part are respectively provided with coaxial second through holes which are respectively positioned at two sides of the pulley of the adjacent knuckle and are rotatably connected with the rotating shaft.

10. A manipulator, comprising at least one knuckle nesting structure according to any one of claims 1 to 9.