CN218905426U - Female finger folding structure of simulation manipulator - Google Patents
Female finger folding structure of simulation manipulator Download PDFInfo
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- CN218905426U CN218905426U CN202223294431.2U CN202223294431U CN218905426U CN 218905426 U CN218905426 U CN 218905426U CN 202223294431 U CN202223294431 U CN 202223294431U CN 218905426 U CN218905426 U CN 218905426U
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- female finger
- supporting seat
- female
- finger
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Abstract
The utility model discloses a female finger folding structure of a simulation manipulator, which comprises a front plate, a rear plate, a female finger supporting seat, a female finger assembly, a first motor, a first gear, a second gear, a sliding rod and a sliding groove block, wherein the front plate is hinged to the rear plate, the sliding groove block is installed on the rear plate, a sliding groove in the sliding groove block is obliquely arranged, the female finger supporting seat is rotatably arranged on the front plate, the first gear is fixedly sleeved at the bottom of the female finger supporting seat, the first motor is installed on the front plate, the second gear is installed on an output shaft of the first motor and meshed with the first gear, one end of the sliding rod is fixed on the female finger supporting seat, the other end of the sliding rod extends into the sliding groove, and the female finger assembly is installed on the female finger supporting seat. The utility model realizes linkage folding when the mother finger supporting seat rotates by utilizing the matching of the sliding rod and the sliding groove, and can effectively realize twisting, twisting and other actions of the mother finger and the other four groups of the mother finger.
Description
Technical Field
The utility model relates to the technical field of simulation manipulators, in particular to a female finger folding structure of a simulation manipulator.
Background
In the simulation manipulator, when the female finger and the other four fingers are assigned to make actions such as rubbing and pinching, the female finger assembly needs to rotate and fold relative to the rear plate fixed with the other four fingers. The existing female finger folding structure of the simulation manipulator comprises a front plate, a rear plate, a female finger supporting seat, a female finger assembly, a first motor, a first gear and a second gear, wherein the front plate is hinged to the rear plate, the female finger supporting seat is rotatably arranged on the front plate, the first gear is fixedly sleeved at the bottom of the female finger supporting seat, the first motor is arranged on the front plate, the second gear is arranged on an output shaft of the first motor and meshed with the first gear, and the female finger assembly is arranged on the female finger supporting seat; still include rack, slip frame, connecting rod, first pull rod, the back plate articulates the rear end of front bezel, the slip frame is fixed the bottom of front bezel, its bottom is equipped with first spout, rack slidable mounting be in the slip frame and with the second gear engagement, the connecting rod sets up in the first spout, its upper end with rack coupling, the both ends of first pull rod swing joint respectively be in the bottom of connecting rod with the bottom of back plate. The female finger folding structure of the simulation manipulator is characterized in that a first motor is utilized to drive a second gear to rotate, a first gear meshed with the second gear drives a female finger supporting seat to rotate, and meanwhile, a rack meshed with the second gear drives a connecting rod to move forwards and backwards, so that the connecting rod drives a first pull rod to move, and a rear plate and a front plate are folded in a related manner. The female finger folding structure of the simulation manipulator can meet the use requirement to a certain extent, but has the following defects: the relative folding of the front plate and the rear plate needs to be driven by the rack through the first pull rod, the linkage with the rotation of the female finger supporting seat is not strong, meanwhile, the components are more, and the occupied space is large.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a female finger folding structure of a simulation manipulator.
The technical scheme of the utility model is as follows:
the utility model provides a female finger folding structure of emulation manipulator, includes front bezel, back plate, female finger supporting seat, female finger subassembly, first motor, first gear, second gear, slide bar and spout piece, the front bezel articulates on the back plate, the spout piece is installed on the back plate, its inside spout slope sets up, female finger supporting seat rotates and sets up on the front bezel, first gear fixed cover is in female finger supporting seat's bottom, first motor is installed on the front bezel, the second gear is installed on the output shaft of first motor and with first gear engagement, the one end of slide bar is fixed on the female finger supporting seat, its other end stretches into in the spout, female finger subassembly is installed on the female finger supporting seat.
Preferably, the inner side of the chute is in arc transition.
Preferably, the first motor is vertically fixed at the bottom of the front plate through a motor mounting seat.
Preferably, the female finger assembly comprises a finger cylinder, a worm wheel, a worm, a second motor and a rotating shaft, wherein a left side plate and a right side plate are formed on two sides of the lower end of the finger cylinder, the rotating shaft is rotatably arranged on the female finger supporting seat, the left side plate and the right side plate are fixed on two ends of the rotating shaft, the worm wheel is fixedly sleeved on the rotating shaft, the second motor is arranged at the bottom of the female finger supporting seat, an output shaft of the second motor stretches into the female finger supporting seat, and the worm is arranged on the output shaft of the second motor through a universal coupling and meshed with the worm wheel.
Preferably, the female finger assembly further comprises a rotary drum and a supporting block, the front plate is upwards provided with a rotary seat, the rotary drum is rotatably arranged on the rotary seat, the supporting block is arranged at the upper end of the rotary drum, the female finger supporting seat is arranged on the supporting block, the sliding rod is fixed on the supporting block, the first gear is sleeved on the rotary drum, the second motor is arranged at the bottom of the rotary drum, and an output shaft of the second motor penetrates through the rotary drum and the supporting block to extend into the female finger supporting seat.
Preferably, the bearing is arranged on the supporting block, and the lower end of the universal coupling is arranged on the inner ring of the bearing and is connected with the output shaft of the second motor.
Preferably, the first motor and the second motor are arranged in parallel.
Compared with the prior art, the utility model has the beneficial effects that: the sliding groove block obliquely arranged on the sliding groove is arranged on the rear plate, the sliding rod is fixed on the female finger supporting seat and extends into the sliding groove, when the first motor drives the female finger supporting seat to rotate through the meshed first gear and second gear, the female finger supporting seat drives the sliding rod to slide in the sliding groove, the rear plate is folded or unfolded relative to the front plate, the female finger is folded relative to the rear plate, the linkage folding when the female finger supporting seat rotates is realized by the cooperation of the sliding rod and the sliding groove, the cooperation of the female finger and the other four fingers can be effectively realized, some simple actions such as grasping, holding and the like can be realized, more complex actions such as twisting, twisting and the like can be also performed, and the integral linkage is good; meanwhile, the problems of complex structure, large occupied space and the like caused by the traditional linkage structure are avoided.
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 finger folding structure of a simulation manipulator according to the present utility model;
FIG. 2 is an exploded view of the female finger folding structure of the simulation manipulator of the present utility model;
fig. 3 is a cross-sectional view of a female finger assembly 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 to 3, the female finger folding structure of the simulation manipulator of this embodiment includes a front plate 1, a rear plate 2, a female finger supporting seat 3, a female finger assembly 4, a first motor 5, a first gear 6, a second gear 7, a slide bar 8 and a slide groove block 9, the front plate 1 is hinged on the rear plate 2, the slide groove block 9 is mounted on the rear plate 2, a slide groove 91 in the slide groove block is obliquely arranged, the female finger supporting seat 3 is rotatably arranged on the front plate 1, the first gear 6 is fixedly sleeved at the bottom of the female finger supporting seat 3, the first motor 5 is mounted on the front plate 1, the second gear 7 is mounted on an output shaft of the first motor 5 and is meshed with the first gear 6, one end of the slide bar 8 is fixed on the female finger supporting seat 3, the other end of the slide bar extends into the slide groove 91, and the female finger assembly 4 is mounted on the female finger supporting seat 3. The inner side of the sliding groove 91 is in arc transition, so that the outer end of the sliding rod 8 contacts with the inner side of the sliding groove 91, and the sliding rod 8 can conveniently slide in the sliding groove 91. The first motor 5 is vertically fixed at the bottom of the front plate 1 through a motor mounting seat 10, and the first motor 5 is mounted in a scheme. When the novel sliding groove block 9 works, the first motor 5 rotates, the second gear 7 drives the first gear 6 to rotate, the female finger supporting seat 3 rotates on the front plate 1, the female finger supporting seat 3 rotates and simultaneously drives the sliding rod 8 to rotate, and as the sliding groove 91 in the sliding groove block 9 is obliquely arranged, the sliding rod 8 presses the top or the bottom of the sliding groove 91 during rotation, and the rear plate 2 where the sliding groove block 9 is driven to fold or reset relative to the front plate 1. The female finger folding structure of the simulation manipulator realizes linkage folding when the female finger supporting seat rotates by utilizing the matching of the sliding rod and the sliding groove, can effectively realize that the female finger is matched with the other four fingers to perform some simple actions such as grasping, holding and the like, can also perform more complex actions such as twisting, rubbing and the like, and has good overall linkage; meanwhile, the problems of complex structure, large occupied space and the like caused by the traditional linkage structure are avoided.
In this embodiment, the female finger assembly 4 includes a finger cylinder 41, a worm wheel 42, a worm 43, a second motor 44, and a rotating shaft 45, wherein a left side plate 46 and a right side plate 47 are formed on two sides of the lower end of the finger cylinder 41, the rotating shaft 45 is rotatably disposed on the female finger support seat 3, the left side plate 46 and the right side plate 47 are fixed on two ends of the rotating shaft 45, the worm wheel 43 is fixedly sleeved on the rotating shaft 45, the second motor 44 is mounted at the bottom of the female finger support seat 3, an output shaft thereof extends into the female finger support seat 3, and the worm 43 is mounted on the output shaft of the second motor 44 through a universal coupling 48 and is meshed with the worm wheel 42. The second motor 44 rotates, the worm 43 is driven to rotate through the universal coupler 48, the worm 43 drives the worm wheel 42 meshed with the worm 43 to rotate, the rotating shaft 45 rotates along with the worm, and the finger cylinder 41 fixed on the rotating shaft 45 can overturn on the female finger support seat 3 to realize bending and straightening of fingers; meanwhile, the worm 43 and the worm wheel 42 are matched with each other and have a self-locking function, so that when the second motor 44 stops rotating, the rotation angle of the finger cylinder 41 cannot be fixed and the movement deviation is prevented; moreover, under the same output motor, the output torque of the worm 43 and the worm wheel 42 is larger, so that the finger assembly is easier to grasp, twist and the like.
In this embodiment, the female finger assembly 4 further includes a drum 49 and a supporting block 410, the front plate 1 is provided with a rotating seat 11 upwards, the drum 49 is rotatably disposed on the rotating seat 11, the supporting block 410 is mounted at the upper end of the drum 49, the female finger supporting seat 3 is mounted on the supporting block 410, the sliding rod 8 is fixed on the supporting block 410, the first gear 6 is sleeved on the drum 49, the second motor 44 is mounted at the bottom of the drum 49, an output shaft of the second motor passes through the drum 49 and the supporting block 410 and stretches into the female finger supporting seat 3, the drum 49 is rotatably disposed on the rotating seat 11 of the front plate 1, the upper supporting block 410 fixed on the drum 49 can also rotate on the rotating seat 11, the first motor 5 and the first gear 6 and the second gear 7 drive the drum 49 to rotate, so that the female finger supporting seat 3 on the supporting block 410 can rotate, and the finger 41 on the female finger supporting seat 3 can rotate on the front plate.
In this embodiment, the bearing 411 is disposed on the support block 410, and the lower end of the universal coupling 48 is mounted on the inner ring of the bearing 411 and connected to the output shaft of the second motor 44, so that the output shaft of the second motor 44 drives the universal coupling 48 to rotate. The first motor 5 and the second motor 44 are arranged in parallel, so that the installation is convenient.
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 (7)
1. The utility model provides a female finger folding structure of emulation manipulator which characterized in that: including front bezel, back plate, female finger supporting seat, female finger subassembly, first motor, first gear, second gear, slide bar and spout piece, the front bezel articulates on the back plate, the spout piece is installed on the back plate, its inside spout slope sets up, female finger supporting seat rotates to set up on the front bezel, first gear fixed sleeve is in female finger supporting seat's bottom, first motor is installed on the front bezel, the second gear is installed on the output shaft of first motor and with first gear engagement, the one end of slide bar is fixed on the female finger supporting seat, its other end stretches into in the spout, female finger subassembly is installed on the female finger supporting seat.
2. The female finger folding structure of the simulation manipulator of claim 1, wherein: the inner side of the chute is in arc transition.
3. The female finger folding structure of the simulation manipulator of claim 1, wherein: the first motor is vertically fixed at the bottom of the front plate through a motor mounting seat.
4. A female finger folding structure of a simulation manipulator according to any one of claims 1 to 3, wherein: the female finger assembly comprises a finger cylinder, a worm wheel, a worm, a second motor and a rotating shaft, wherein a left side plate and a right side plate are formed on two sides of the lower end of the finger cylinder, the rotating shaft is rotatably arranged on the female finger supporting seat, the left side plate and the right side plate are fixed on two ends of the rotating shaft, the worm wheel is fixedly sleeved on the rotating shaft, the second motor is arranged at the bottom of the female finger supporting seat, an output shaft of the second motor stretches into the female finger supporting seat, and the worm is arranged on the output shaft of the second motor through a universal coupling and meshed with the worm wheel.
5. The simulated manipulator of claim 4, wherein the finger folding structure comprises: the female finger assembly further comprises a rotary drum and a supporting block, the front plate is upwards provided with a rotary seat, the rotary drum is rotatably arranged on the rotary seat, the supporting block is installed at the upper end of the rotary drum, the female finger supporting seat is installed on the supporting block, the sliding rod is fixed on the supporting block, the first gear is sleeved on the rotary drum, the second motor is installed at the bottom of the rotary drum, and an output shaft of the second motor penetrates through the rotary drum and the supporting block to extend into the female finger supporting seat.
6. The simulated manipulator of claim 5, wherein the finger folding structure comprises: the support block is provided with a bearing, and the lower end of the universal coupling is arranged on the inner ring of the bearing and is connected with the output shaft of the second motor.
7. The simulated manipulator of claim 4, wherein the finger folding structure comprises: the first motor and the second motor are arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223294431.2U CN218905426U (en) | 2022-12-08 | 2022-12-08 | Female finger folding structure of simulation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223294431.2U CN218905426U (en) | 2022-12-08 | 2022-12-08 | Female finger folding structure of simulation manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN218905426U true CN218905426U (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223294431.2U Active CN218905426U (en) | 2022-12-08 | 2022-12-08 | Female finger folding structure of simulation manipulator |
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| CN (1) | CN218905426U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652992A (en) * | 2023-07-28 | 2023-08-29 | 哈尔滨工业大学 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
-
2022
- 2022-12-08 CN CN202223294431.2U patent/CN218905426U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652992A (en) * | 2023-07-28 | 2023-08-29 | 哈尔滨工业大学 | Mechanical thumb metacarpophalangeal joint, mechanical thumb and mechanical arm |
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