CN218364834U - Finger of bionic robot hand and bionic robot hand - Google Patents
Finger of bionic robot hand and bionic robot hand Download PDFInfo
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- CN218364834U CN218364834U CN202222518557.7U CN202222518557U CN218364834U CN 218364834 U CN218364834 U CN 218364834U CN 202222518557 U CN202222518557 U CN 202222518557U CN 218364834 U CN218364834 U CN 218364834U
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Abstract
The utility model relates to a finger of a bionic robot hand and the bionic robot hand, wherein the finger comprises a top knuckle, a bottom knuckle and a connecting rod, the top knuckle is respectively connected with the bottom knuckle and one end of the connecting rod in a rotating way, the other end of the bottom knuckle is connected with a driving transmission hinge in a rotating way, the driving transmission hinge is connected with a linear driver in a rotating way, and the other end of the bottom knuckle is connected with a palm frame in a rotating way; the other end of the connecting rod is rotatably connected with the palm frame; the linear driver is connected with the palm frame through the connecting component; the fingers can realize straightening and bending actions, so that the bionic robot hand adopting the fingers can adapt to the grasping of objects with relatively complex shapes.
Description
Technical Field
The utility model relates to a bionic robot technical field especially relates to a finger and bionic robot hand of bionic robot hand.
Background
At present, in robot application, a robot hand is mostly applied to the aspects of industrial production lines, handicapped artificial limbs, scientific research tests and the like.
The existing robot hand mostly adopts the clamp as the finger to grasp an object, the grasping mode is simple and is difficult to grasp an object with a complex shape, for example, an object with an irregular shape, so that the clamp as the finger of the robot hand has poor flexibility, and the robot hand cannot complete slightly complex actions in production and life.
Disclosure of Invention
To above-mentioned at least one problem, the utility model aims at providing a bionical robot's finger and bionical robot, the finger can realize straightening and bending, consequently adopts the bionical robot of this finger can adapt to the gripping of complicated appearance object relatively.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a finger of a bionic robot hand comprises a top knuckle, a bottom knuckle and a connecting rod, wherein the top knuckle is respectively and rotatably connected with the bottom knuckle and one end of the connecting rod; the other end of the connecting rod is rotatably connected with the palm frame; the linear driver is connected with the palm frame through a connecting assembly.
Preferably, the link is an H-shaped link.
Preferably, the linear driver comprises a linear driver push rod and a linear driver main body, one end of the linear driver push rod extends out of the linear driver main body, and the linear driver push rod is rotatably connected with the driving transmission hinge; the bottom of the linear driver main body is provided with a rotary spherical hinge, and the rotary spherical hinge is connected with the palm frame through a connecting assembly.
Preferably, coupling assembling includes fixed fixture block and the solid fixed ring of spherical hinge, rotate the spherical hinge with the solid fixed ring spherical hinge of spherical hinge is connected, the solid fixed ring block of spherical hinge is in the fixed fixture block.
Preferably, the fixed fixture block comprises a first fixed fixture block and a second fixed fixture block, the first fixed fixture block and the second fixed fixture block are respectively provided with a plug and a jack, and the first fixed fixture block and the second fixed fixture block are mutually matched and connected through the head and the jack.
Preferably, the inner walls of the first fixed fixture block and the second fixed fixture block are provided with arc-shaped grooves, and the grooves are connected with the spherical hinge fixing rings in an interference fit manner.
Preferably, a fixing groove is formed in the palm frame, and the fixing clamping block is inserted into the fixing groove and connected with the fixing groove in an interference fit manner.
Preferably, the fixing groove is a rectangular groove.
A bionic robot hand comprises a palm and a plurality of fingers, wherein the fingers are arranged on the palm.
The utility model discloses owing to take above technical scheme, it has following advantage:
1. the utility model provides a bionic robot hand's finger, four parts of top knuckle, bottom knuckle, connecting rod and palm frame constitute one "8" style of calligraphy four-bar linkage, under the drive of linear actuator, realize that the finger straightens and the bending motion.
2. The utility model provides a bionic robot hand, palm set up a plurality of fingers to make bionic robot hand can adapt to the gripping of complicated appearance object relatively.
Drawings
Fig. 1 is a schematic view of a finger axial three-dimensional structure of a bionic robot hand according to an embodiment of the present invention.
Fig. 2 is a schematic view of a finger front view structure of the bionic robot hand provided by the embodiment of the present invention.
Fig. 3 is a schematic view of a finger overlooking structure of the bionic robot hand provided by the embodiment of the invention.
Fig. 4 is a schematic structural view of a portion of the fixed block according to the embodiment of the present invention.
Fig. 5 is a schematic view of a fastening structure of the fixing clip according to the present invention.
Fig. 6 is a schematic structural view of the palm frame according to the embodiment of the present invention.
Fig. 7 is a schematic structural view of a bionic robot provided by the another embodiment of the present invention.
In the drawings, the reference numbers:
the device comprises a top knuckle 1, a connecting rod 2, a bottom knuckle 3, a driving hinge 4, a linear driver push rod 5, a linear driver main body 6, a palm frame 7, a rotating spherical hinge 8, a fixed clamping block 9, a first fixed clamping block 9-1, a second fixed clamping block 9-2 and a spherical hinge fixing ring 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the system or element referred to 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.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "assembled", "disposed" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model provides a bionical robot's finger and bionical robot, the finger can realize straightening and bending, consequently adopts the bionical robot of this finger can adapt to the gripping of complicated appearance object relatively.
The finger of the bionic robot hand and the bionic robot hand provided by the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
The fingers of the bionic robot hand provided by the embodiment comprise a top knuckle 1, a bottom knuckle 3 and a connecting rod 2, wherein the top knuckle 1 is respectively connected with one end of the bottom knuckle 3 and one end of the connecting rod 2 in a rotating manner, the top knuckle 1 is of a cylindrical structure, the top of the top knuckle is a circular arc-shaped curved surface, and a certain bending angle is formed in the middle position of the top knuckle 1. The other end of the bottom knuckle 3 is rotationally connected with a driving transmission hinge 4, the driving transmission hinge 4 is rotationally connected with a linear driver, and the other end of the bottom knuckle 3 is rotationally connected with a palm frame 7; the other end of the connecting rod 2 is rotatably connected with the palm frame 7, and the connecting rod 2 is an H-shaped connecting rod and is conveniently connected with the top knuckle 1 and the palm frame 7; the linear driver is connected with the palm framework 7 through the connecting component, and the top knuckle 1, the bottom knuckle 3, the connecting rod 2 and the palm framework 7 form an 8-shaped four-connecting rod.
In this embodiment, the linear actuator is a linear driving component, and includes a linear actuator push rod 5 and a linear actuator main body 6, one end of the linear actuator push rod 5 extends from one end of the linear actuator main body 6, the linear actuator push rod 5 reciprocates along the axial direction of the rod, and the linear actuator main body 6 drives the linear actuator 5 to reciprocate along the axial direction; the tail end of a push rod 5 of the linear driver is rotationally connected with a driving transmission hinge 4; the bottom of the linear driver main body 6 is provided with a rotary spherical hinge 8, the spherical hinge 8 is fixedly connected to the bottom of the linear driver main body 6, and the rotary spherical hinge 8 is connected with the palm frame 7 through a connecting assembly.
In the embodiment shown in fig. 4 to 5, the connecting assembly includes a fixed block 9 and a ball hinge fixing ring 10, the rotating ball hinge 8 is connected with the ball hinge fixing ring 10 in a ball hinge manner, so as to perform a spherical hinge constraint motion, and the ball hinge fixing ring 10 is clamped in the fixed block 9. The fixed fixture block 9 comprises a first fixed fixture block 9-1 and a second fixed fixture block 9-2, the first fixed fixture block 9-1 and the second fixed fixture block 9-2 are respectively provided with a plug and a jack, one of the first fixed fixture block 9-1 and the second fixed fixture block 9-2 is provided with a plug at the top and a jack at the bottom, the other one of the first fixed fixture block 9-1 and the second fixed fixture block 9-2 is provided with a plug at the top and a plug at the bottom, the first fixed fixture block 9-1 and the second fixed fixture block 9-2 are mutually matched and connected through the plug and the jack, and the plug and the jack can be in interference fit connection.
In this embodiment, the inner walls of the first fixing fixture block 9-1 and the second fixing fixture block 9-2 are provided with arc-shaped grooves, and the grooves are connected with the spherical hinge fixing ring 10 in an interference fit manner, so that the connection stability is realized.
In this embodiment, as shown in fig. 6, a fixing groove is formed on the palm frame, and the lower portion of the fixing fixture block 9 is inserted into the fixing groove and is connected with the fixing groove in an interference fit manner, so that the fixing fixture block 9 is stably connected with the palm frame 7; wherein, the fixed slot is the rectangular channel, and processing and assembly are more convenient.
The rotational connection between the components in this embodiment may be, in particular, by means of a connection of a rotational shaft.
The fingers of the bionic robot hand of the embodiment comprise a top knuckle 1, a bottom knuckle 3, a connecting rod 2 and a palm frame 7, wherein the four parts form an 8-shaped four-connecting rod, a linear driver main body 6 drives a linear driver push rod 5 to axially extend or contract, when the linear driver push rod 5 extends, a driving transmission hinge 4 is pushed, the driving transmission hinge 4 pushes the bottom knuckle 3, the bottom knuckle 3 drives the top knuckle 1 and the connecting rod 2, the distance extending action of the relative rotating spherical hinge 8 is realized, and the extending action of the fingers is realized.
When the linear driver push rod 5 contracts, the driving transmission hinge 4 is pulled, the driving transmission hinge 4 pulls the bottom knuckle 3, the bottom knuckle 3 pulls the top knuckle 1 and the connecting rod 2, the contraction action of approaching the relative rotating spherical hinge 8 is realized, and the bending action of fingers is realized.
Example 2
The bionic robot hand provided by the embodiment comprises a palm and a plurality of fingers in the example 1, and the fingers are arranged on the palm, so that the bionic robot hand can adapt to the gripping of objects with relatively complex shapes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (9)
1. The fingers of the bionic robot hand are characterized by comprising a top knuckle, a bottom knuckle and a connecting rod, wherein the top knuckle is respectively and rotatably connected with the bottom knuckle and one end of the connecting rod, the other end of the bottom knuckle is rotatably connected with a driving transmission hinge, the driving transmission hinge is rotatably connected with a linear driver, and the other end of the bottom knuckle is rotatably connected with a palm frame; the other end of the connecting rod is rotatably connected with the palm frame; the linear driver is connected with the palm frame through a connecting assembly.
2. The finger of a biomimetic robotic hand according to claim 1, wherein the link is an H-shaped link.
3. The bionic robot hand finger of claim 1, wherein the linear actuator comprises a linear actuator push rod and a linear actuator main body, one end of the linear actuator push rod extends out of the linear actuator main body, and the linear actuator push rod is rotatably connected with the drive transmission hinge; the bottom of the linear driver main body is provided with a rotary spherical hinge, and the rotary spherical hinge is connected with the palm frame through a connecting assembly.
4. The bionic robot hand finger of claim 3, wherein the connecting assembly comprises a fixed clamping block and a spherical hinge fixing ring, the rotary spherical hinge is in spherical hinge connection with the spherical hinge fixing ring, and the spherical hinge fixing ring is clamped in the fixed clamping block.
5. The finger of the bionic robot hand according to claim 4, wherein the fixed fixture block comprises a first fixed fixture block and a second fixed fixture block, the first fixed fixture block and the second fixed fixture block are respectively provided with a plug and a jack, and the first fixed fixture block and the second fixed fixture block are mutually matched and connected through the plug and the jack.
6. The bionic robot hand finger of claim 5, wherein the first fixed fixture block and the second fixed fixture block are provided with circular arc-shaped grooves on inner walls thereof, and the grooves are connected with the spherical hinge fixing rings in an interference fit manner.
7. The bionic robot hand finger according to claim 4 or 5, wherein a fixing groove is formed in the palm frame, and the fixing fixture block is inserted into the fixing groove and connected with the fixing groove in an interference fit manner.
8. The biomimetic robotic hand finger of claim 7, wherein the fixation slot is a rectangular slot.
9. A biomimetic robotic hand comprising a palm and a plurality of fingers as claimed in any one of claims 1 to 8, said fingers being disposed on said palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222518557.7U CN218364834U (en) | 2022-09-22 | 2022-09-22 | Finger of bionic robot hand and bionic robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222518557.7U CN218364834U (en) | 2022-09-22 | 2022-09-22 | Finger of bionic robot hand and bionic robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218364834U true CN218364834U (en) | 2023-01-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222518557.7U Active CN218364834U (en) | 2022-09-22 | 2022-09-22 | Finger of bionic robot hand and bionic robot hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218364834U (en) |
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2022
- 2022-09-22 CN CN202222518557.7U patent/CN218364834U/en active Active
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