CN218905425U

CN218905425U - Finger-palm joint assembly of simulation manipulator

Info

Publication number: CN218905425U
Application number: CN202223294389.4U
Authority: CN
Inventors: 韩靖
Original assignee: Shenzhen Hansong Precision Technology Co ltd
Current assignee: Shenzhen Hansong Precision Technology Co ltd
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-04-25
Anticipated expiration: 2032-12-08

Abstract

The utility model discloses a finger-palm joint assembly of a simulation mechanical hand, which comprises a supporting plate, a palm block, a finger supporting seat, a finger cylinder, a rotating shaft, a worm wheel, a worm, a universal coupler, a first motor and a driving structure, wherein the palm block is vertically fixed on the supporting plate, the finger supporting seat is rotationally arranged on the front face of the palm block, the finger cylinder is rotationally arranged on the finger supporting seat through the rotating shaft, the worm wheel is fixedly sleeved on the rotating shaft, the first motor is arranged on the palm block, the lower end of the universal coupler is connected with an output shaft of the first motor, the upper end of the universal coupler extends into the finger supporting seat, the worm is fixed at the upper end of the universal coupler and meshed with the worm wheel, and the driving structure is arranged on the supporting plate, and the driving end of the driving structure is connected with the finger supporting seat and drives the finger supporting seat to swing on the palm block. The utility model utilizes the matching of the worm and the worm wheel to have a self-locking function, thereby effectively preventing the movement deviation caused by the fact that the rotation angle of the finger cylinder cannot be fixed when the first motor stops rotating, and ensuring the finger cylinder to be fixed in movement.

Description

Finger-palm joint assembly of simulation manipulator

Technical Field

The utility model relates to the technical field of simulation manipulators, in particular to a metacarpophalangeal joint component of a simulation manipulator.

Background

The metacarpal joint component is an important component of the simulation manipulator and affects whether the simulation manipulator can do the actions of each simulation hand. The finger-palm joint assembly of the existing simulation manipulator comprises a palm block, a finger supporting seat, a finger cylinder, a first bevel gear, a second bevel gear, a universal coupler, a motor and a rotating shaft, wherein the finger supporting seat is arranged on the palm block, the finger cylinder is arranged on the finger supporting seat through the rotating shaft, the motor is arranged on the palm block, the universal coupler is arranged on an output shaft of the motor, an output end of the universal coupler stretches into the finger supporting seat from below, the first bevel gear is fixedly sleeved on the universal coupler, and the second bevel gear is fixedly arranged on the rotating shaft and meshed with the first bevel gear. Although the metacarpophalangeal joint component of the simulation manipulator can meet the use requirement to a certain extent, the simulation manipulator has the following defects: when the motor stops rotating, the finger cylinder is easy to deviate under the action of gravity or external force, and the two bevel gears are matched, so that the output torque is smaller under the condition of the same output power of the motor.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provides a finger-palm joint assembly of a simulation manipulator.

The technical scheme of the utility model is as follows:

the utility model provides a finger metacarpal joint assembly of emulation manipulator, includes backup pad, palm piece, finger supporting seat, indicates a section of thick bamboo, pivot, worm wheel, worm, universal joint, first motor, drive structure, the palm piece is vertical to be fixed in the backup pad, finger supporting seat rotates to be set up the front of palm piece, it sets up to indicate that the section of thick bamboo rotates through the pivot finger supporting seat is last, the worm wheel is fixed to be overlapped in the pivot, first motor is installed on the palm piece, universal joint's lower extreme with the output shaft of first motor, its upper end stretches into in the finger supporting seat, the worm is fixed universal joint's upper end and with the worm wheel meshing, drive structure installs in the backup pad, its drive end with finger supporting seat is connected and is driven finger supporting seat is in swing on the palm piece.

Preferably, the driving structure comprises a second motor, a guide pillar, a lifting column and a sliding block, wherein the guide pillar is vertically arranged on the supporting plate, the lifting column is vertically rotatably arranged on the supporting plate, the second motor is arranged on the supporting plate and is in transmission connection with the lifting column, the front side of the sliding block is slidingly arranged on the guide pillar, the rear side of the sliding block is sleeved on the lifting column and is in threaded connection with the lifting column, and the lower end of the finger supporting seat is connected with the sliding block through a connecting piece.

Preferably, the second motor is mounted at the bottom of the support plate.

Preferably, the lower end of the connecting piece is connected to one side of the slider.

Preferably, the connecting piece is a elastic rope.

Preferably, the two finger cylinders are provided with a left side plate and a right side plate, the left side plate is provided with a left through hole, the right side plate is provided with a right through hole, the right through hole and the right end of the rotating shaft are in a circular segment shape, and the left side plate and the right side plate are sleeved at the two ends of the rotating shaft.

Preferably, the metacarpal joint component of the simulation manipulator further comprises an adjusting nut, a clamping table is arranged at the left end of the rotating shaft, the outer end thread of the adjusting nut is screwed on the left side of the finger supporting seat, the left side of the rotating shaft penetrates through the adjusting nut, and the clamping table is pressed on the right side of the adjusting nut.

Compared with the prior art, the utility model has the beneficial effects that: the finger support seat is rotatably arranged on the palm block, the finger cylinder is rotatably arranged on the finger support seat through the rotating shaft, the worm wheel is fixedly sleeved on the rotating shaft, the worm is connected with the output shaft of the first motor through the universal coupling, when the driving structure drives the finger support seat to swing left and right on the palm block, the worm is driven to rotate by rotating the first motor, the worm wheel meshed with the worm is driven to rotate along with the rotation shaft, the rotating shaft is driven to rotate, the finger cylinder can overturn on the finger support seat by a certain angle, and the self-locking function is realized by utilizing the cooperation of the worm and the worm wheel, so that when the first motor stops rotating, the rotation angle of the finger cylinder cannot be fixed and the action is offset, and the finger cylinder is fixed; under the same output motor, the output torque of the worm and the worm wheel is larger, so that the finger assembly is easier to grasp and twist.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a metacarpophalangeal joint component of a simulated manipulator according to the present utility model;

fig. 2 is an exploded view of the metacarpophalangeal joint assembly of the artificial manipulator of the present utility model.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

In order to illustrate the technical scheme of the utility model, the following description is made by specific examples.

Example 1

As shown in fig. 1 and 2, the finger-palm joint assembly of the simulation manipulator of this embodiment includes a support plate 1, a palm block 2, a finger support base 3, a finger cylinder 4, a rotating shaft 5, a worm wheel 6, a worm 7, a universal coupling 8, a first motor 9, and a driving structure 10, wherein the palm block 2 is vertically fixed on the support plate 1, the finger support base 3 is rotatably disposed on the front surface of the palm block 2, the finger cylinder 4 is rotatably disposed on the finger support base 3 through the rotating shaft 5, the worm wheel 6 is fixedly sleeved on the rotating shaft 5, the first motor 9 is mounted on the palm block 2, the lower end of the universal coupling 8 is connected with an output shaft of the first motor 9, the upper end of the first motor extends into the finger support base 3, the worm 7 is fixed on the upper end of the universal coupling 8 and is meshed with the worm wheel 6, and the driving structure 10 is mounted on the support plate 1, and the driving end of the driving structure is connected with the finger support base 3 and drives the finger support base 3 to swing on the palm block 2. When the finger bending device works, the first motor 9 rotates, the worm 7 is driven to rotate through the universal coupler 8, the worm wheel 6 meshed with the worm 7 rotates along with the worm, the rotating shaft 5 is driven to rotate, the finger cylinder 4 connected with the rotating shaft 5 rotates along with the rotating shaft, the finger cylinder 4 can be bent on the finger supporting seat 3, and the bending of fingers is realized; meanwhile, the driving structure 10 can drive the finger support seat 3 to rotate, so that the finger cylinder 4 can swing on the palm block 2. The metacarpophalangeal joint component of the simulation manipulator has a self-locking function by utilizing the matching of the worm and the worm wheel, so that the phenomenon that the rotation angle of the finger cylinder cannot be fixed to generate motion deviation when the first motor stops rotating can be effectively prevented, and the finger cylinder is fixed in motion; under the same output motor, the output torque of the worm and the worm wheel is larger, so that the finger assembly is easier to grasp and twist.

In this embodiment, the driving structure 10 includes a second motor 101, a guide pillar 102, a lifting column 103 and a slider 104, where the guide pillar 102 is vertically installed on the support plate 1, the lifting column 103 is vertically rotatably installed on the support plate 1, the second motor 101 is installed on the support plate 1 and is in transmission connection with the lifting column 103, the front side of the slider 104 is slidingly disposed on the guide pillar 102, the rear side of the slider is sleeved on the lifting column 103 and is in threaded connection with the lifting column 103, and the lower end of the finger support seat 3 is connected with the slider 104 through a connecting piece 105. The second motor 101 rotates to drive the lifting column 103 to rotate, and as the lifting column 103 is in threaded connection with the sliding block 104, and the front side of the sliding block 104 is slidingly arranged on the guide post 102, the lifting column 103 rotates to drive the sliding block 104 to move up and down along the guide post 102, and the sliding block 104 drives the connecting piece 105 to move up and down, so that the finger support base 3 swings on the palm block 2. Wherein, the second motor 101 is installed at the bottom of the supporting plate 1, so that the whole structure is more compact. The lower end of the connecting piece 105 is connected to one side of the slider 104, so as to conveniently drive the finger support base 3 to swing. The connecting piece 105 is a spring rope, so that the finger support seat 3 is conveniently driven to rotate, and the spring rope has certain elasticity, so that the finger support seat 3 is not too rigid in action when rotating.

In this embodiment, two of the finger cylinder 4 are provided with a left side plate 41 and a right side plate 42, the left side plate 41 is provided with a left through hole 43, the right side plate 42 is provided with a right through hole 44, the right through hole 44 and the right end of the rotating shaft 5 are in a circular shape, the left side plate 41 and the right side plate 42 are sleeved at two ends of the rotating shaft 5, and the right through hole 44 is matched with the right end of the rotating shaft 5, so that the finger cylinder 4 can be driven to rotate on the finger support seat 3 when the rotating shaft 5 rotates, and the finger can be bent or straightened. The finger-palm joint assembly of the simulation manipulator further comprises an adjusting nut 11, the left end of the rotating shaft 5 is provided with a clamping table 51, the outer end of the adjusting nut 11 is screwed on the left side of the finger supporting seat 3, the left side of the rotating shaft 5 penetrates through the adjusting nut 11, the clamping table 51 is pressed on the right side of the adjusting nut 11, the adjusting nut 11 is rotated, the rotating shaft 5 can be adjusted to move rightwards, and the worm wheel 6 is meshed with the worm 7 better.

The foregoing description of the preferred embodiment of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. The finger-palm joint assembly of the simulation manipulator is characterized in that: including backup pad, palm piece, finger supporting seat, refer section of thick bamboo, pivot, worm wheel, worm, universal joint, first motor, drive structure, the palm piece is vertical to be fixed in the backup pad, finger supporting seat rotates to set up the front of palm piece, refer the section of thick bamboo to rotate through the pivot and set up on the finger supporting seat, the fixed cover of worm wheel is in the pivot, first motor is installed on the palm piece, universal joint's lower extreme with the output shaft of first motor, its upper end stretches into in the finger supporting seat, the worm is fixed universal joint's upper end and with the worm wheel meshing, drive structure installs in the backup pad, its drive end with finger supporting seat is connected and is driven finger supporting seat is in swing on the palm piece.

2. The artificial manipulator of claim 1, wherein the metacarpophalangeal joint assembly is characterized by: the driving structure comprises a second motor, a guide pillar, a lifting column and a sliding block, wherein the guide pillar is vertically arranged on the supporting plate, the lifting column is vertically rotatably arranged on the supporting plate, the second motor is arranged on the supporting plate and is in transmission connection with the lifting column, the front side of the sliding block is arranged on the guide pillar, the rear side of the sliding block is sleeved on the lifting column and is in threaded connection with the lifting column, and the lower end of the finger supporting seat is connected with the sliding block through a connecting piece.

3. The artificial manipulator of claim 2, wherein the metacarpophalangeal joint assembly is characterized by: the second motor is mounted at the bottom of the support plate.

4. The artificial manipulator of claim 2, wherein the metacarpophalangeal joint assembly is characterized by: the lower end of the connecting piece is connected to one side of the sliding block.

5. The artificial manipulator of claim 2, wherein the metacarpophalangeal joint assembly is characterized by: the connecting piece is a spring rope.

6. The artificial manipulator of any one of claims 1 to 5, wherein: the two of the finger cylinder are provided with a left side plate and a right side plate, a left through hole is formed in the left side plate, a right through hole is formed in the right side plate, the right through hole and the right end of the rotating shaft are in a circular-segment shape, and the left side plate and the right side plate are sleeved at two ends of the rotating shaft.

7. The artificial manipulator of any one of claims 1 to 5, wherein: the finger-palm joint assembly of the simulation manipulator further comprises an adjusting nut, the left end of the rotating shaft is provided with a clamping table, the outer end of the adjusting nut is screwed on the left side of the finger supporting seat, the left side of the rotating shaft penetrates through the adjusting nut, and the clamping table is pressed on the right side of the adjusting nut.