CN209022100U - A kind of three finger joint activation lacking mechanical fingers that motion profile determines - Google Patents
A kind of three finger joint activation lacking mechanical fingers that motion profile determines Download PDFInfo
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- CN209022100U CN209022100U CN201821695695.XU CN201821695695U CN209022100U CN 209022100 U CN209022100 U CN 209022100U CN 201821695695 U CN201821695695 U CN 201821695695U CN 209022100 U CN209022100 U CN 209022100U
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- knuckle
- connecting rod
- hinged
- motion profile
- push
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Abstract
The utility model discloses the three finger joint activation lacking mechanical fingers that a kind of motion profile determines, including rack, third knuckle, second knuckle, first knuckle and push-pull rod, the lower end thereof of the first knuckle and rack are hinged, the upper one end of the first knuckle and the lower end thereof of second knuckle are hinged, the upper one end of the second knuckle and third knuckle are hinged, the side of the rack slidably connects push-pull rod, the upper one end of the push-pull rod is hinged with one end of first connecting rod, the other end of the first connecting rod and first knuckle are hinged, pass through third knuckle, the cooperations such as second knuckle and first knuckle may be implemented to imitate the form that manpower is grasped and opened and closed, reduce outer dimension size, it is close with the finger size of people in shape, the driving force input of push-pull rod can make structure simple, second connecting rod and third connecting rod cooperation can be with Realize the determination of motion profile.
Description
Technical field
The utility model relates to mechanical finger technical field, three determining finger joint lack of driven of specially a kind of motion profile
Tool finger.
Background technique
Existing activation lacking mechanical finger is to realize adaptive grip function, is adaptively driven using multistage connecting rod, machine
Structure is all complex, and the finger for comparing people is big much, can not be directly used on the manipulator of apery type, and outer dimension
Excessive, cannot achieve can imitate the form that manpower is grasped and opened and closed, and can not achieve the determination of motion profile.
We provide the three finger joint activation lacking mechanical fingers that a kind of motion profile determines thus.
Utility model content
The technical problems to be solved in the utility model is to overcome existing defect, provides a kind of three fingers that motion profile determines
Save activation lacking mechanical finger, may be implemented imitate manpower grasp and folding form, reduce outer dimension size, in shape with
The finger size of people is close, and structure is simple, and the determination of motion profile may be implemented, and can effectively solve asking in background technique
Topic.
To achieve the above object, the utility model provides the following technical solutions: a kind of three finger joints that motion profile determines are deficient
Driving manipulator refers to, including rack, third knuckle, second knuckle, first knuckle and push-pull rod, the lower part one of the first knuckle
Hold it is hinged with rack, the upper one end of the first knuckle and the lower end thereof of second knuckle are hinged, the second knuckle it is upper
Portion one end and third knuckle are hinged, and the side of the rack slidably connects push-pull rod.
As a kind of optimal technical scheme of the utility model, the upper one end of the push-pull rod is hinged with first connecting rod
One end, the other end and first knuckle of the first connecting rod are hinged.
As a kind of optimal technical scheme of the utility model, the push-pull rod is hinged with close to one end of first connecting rod
One end of two connecting rods, the other end and second knuckle of the second connecting rod are hinged.
As a kind of optimal technical scheme of the utility model, the middle position of the second connecting rod is equipped with through-hole, described
Second connecting rod is rotatably connected to one end of third connecting rod by through-hole, and the other end and third knuckle of the third connecting rod are hinged.
As a kind of optimal technical scheme of the utility model, the inside of the rack is equipped with through slot.
Compared with prior art, the utility model has the beneficial effects that passing through third knuckle, second knuckle and first knuckle
Equal cooperations may be implemented to imitate the form that manpower is grasped and opened and closed, and reduce outer dimension size, big with the finger of people in shape
Small close, the driving force input of push-pull rod can make structure simple, and movement rail may be implemented in second connecting rod and third connecting rod cooperation
The determination of mark.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model positive structure diagram.
In figure: 1 push-pull rod, 2 first connecting rods, 3 second connecting rods, 4 third connecting rods, 5 third knuckles, 6 second knuckles, 7 first
Finger joint, 8 racks, 9 through slots.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The utility model provides a kind of technical solution referring to FIG. 1-2: a kind of three finger joint drive lackings that motion profile determines
Mechanical finger, including rack 8, third knuckle 5, second knuckle 6, first knuckle 7 and push-pull rod 1, the lower end thereof of first knuckle 7
Hinged with rack 8, the lower end thereof of the upper one end and second knuckle 6 of first knuckle 7 is hinged, the upper one end of second knuckle 6
Hinged with third knuckle 5, the side of rack 8 slidably connects push-pull rod 1, for realizing the input of driving force, push-pull rod 1 it is upper
Portion one end is hinged with one end of first connecting rod 2, and the other end and first knuckle 7 of first connecting rod 2 are hinged, and push-pull rod 1 is close to first
One end of connecting rod 2 is hinged with one end of second connecting rod 3, and the other end and second knuckle 6 of second connecting rod 3 are hinged, second connecting rod 3
Middle position is equipped with through-hole, and second connecting rod 3 is rotatably connected to one end of third connecting rod 4 by through-hole, and second connecting rod 3 and third connect
Bar 4 cooperates the determination that motion profile may be implemented, and the other end and third knuckle 5 of third connecting rod 4 are hinged, and the inside of rack 8 is set
There is through slot 9.
When in use: pushing the push-pull rod 1 of connection to slide with respect to rack 8 first, push-pull rod 1 is mobile to drive the first of connection
The rotation movement of first knuckle 7 is transferred in connecting rod 2 and the rotation movement of second connecting rod 3, the rotation of first connecting rod 2, and first knuckle 7 successively drives
Second knuckle 6 and the rotation movement of third knuckle 5, at this point, can be to motion profile by second connecting rod 3 and the cooperation of third connecting rod 4
It is determined.
The utility model may be implemented imitation manpower by cooperations such as third knuckle 5, second knuckle 6 and first knuckles 7 and grab
The form held and opened and closed reduces outer dimension size, and close with the finger size of people in shape, the driving force of push-pull rod 1 is defeated
Entering can make structure simple, and second connecting rod 3 and third connecting rod 4 cooperate the determination that motion profile may be implemented.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. the three finger joint activation lacking mechanical fingers that a kind of motion profile determines, including rack (8), third knuckle (5), second knuckle
(6), first knuckle (7) and push-pull rod (1), it is characterised in that: the lower end thereof of the first knuckle (7) and rack (8) hingedly,
The lower end thereof of the upper one end and second knuckle (6) of the first knuckle (7) is hinged, the top one of the second knuckle (6)
Hingedly with third knuckle (5), the side of the rack (8) slidably connects push-pull rod (1) at end.
2. the three finger joint activation lacking mechanical fingers that a kind of motion profile according to claim 1 determines, it is characterised in that: institute
The upper one end for stating push-pull rod (1) is hinged with one end of first connecting rod (2), and the other end of the first connecting rod (2) and first refer to
It is hinged to save (7).
3. the three finger joint activation lacking mechanical fingers that a kind of motion profile according to claim 1 determines, it is characterised in that: institute
State push-pull rod (1) and be hinged with one end of second connecting rod (3) close to the one end of first connecting rod (2), the second connecting rod (3) it is another
End is hinged with second knuckle (6).
4. the three finger joint activation lacking mechanical fingers that a kind of motion profile according to claim 3 determines, it is characterised in that: institute
The middle position for stating second connecting rod (3) is equipped with through-hole, and the second connecting rod (3) is rotatably connected to third connecting rod (4) by through-hole
One end, the other end of the third connecting rod (4) and third knuckle (5) are hinged.
5. the three finger joint activation lacking mechanical fingers that a kind of motion profile according to claim 1 determines, it is characterised in that: institute
The inside for stating rack (8) is equipped with through slot (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695695.XU CN209022100U (en) | 2018-10-19 | 2018-10-19 | A kind of three finger joint activation lacking mechanical fingers that motion profile determines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821695695.XU CN209022100U (en) | 2018-10-19 | 2018-10-19 | A kind of three finger joint activation lacking mechanical fingers that motion profile determines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209022100U true CN209022100U (en) | 2019-06-25 |
Family
ID=66906841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821695695.XU Expired - Fee Related CN209022100U (en) | 2018-10-19 | 2018-10-19 | A kind of three finger joint activation lacking mechanical fingers that motion profile determines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209022100U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253555A (en) * | 2019-06-27 | 2019-09-20 | 深圳勇艺达机器人有限公司 | Bionic mechanical hand |
| CN110269728A (en) * | 2019-07-22 | 2019-09-24 | 长安大学 | A kind of no driving source double leval jib combined machine finger artifucial limb |
| CN111053665A (en) * | 2019-12-16 | 2020-04-24 | 山东蝰蛇智能装备有限公司 | Angle turning device with adjustable multistage connecting rod |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
-
2018
- 2018-10-19 CN CN201821695695.XU patent/CN209022100U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253555A (en) * | 2019-06-27 | 2019-09-20 | 深圳勇艺达机器人有限公司 | Bionic mechanical hand |
| CN110269728A (en) * | 2019-07-22 | 2019-09-24 | 长安大学 | A kind of no driving source double leval jib combined machine finger artifucial limb |
| CN111053665A (en) * | 2019-12-16 | 2020-04-24 | 山东蝰蛇智能装备有限公司 | Angle turning device with adjustable multistage connecting rod |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190625 Termination date: 20191019 |