A kind of mechanical finger and mechanical hand

Abstract

The invention discloses a mechanical finger and a mechanical arm. The mechanical finger comprises a first connecting piece, a first finger section, a second finger section, a first elastic piece, a second elastic piece and a pull line, wherein the first connecting part is used for fixing the mechanical finger to a fixed device, the first finger section is hinged to the first connecting piece through a first articulated shaft, and the second finger section is hinged to the first finger section through a second articulated shaft. The first elastic piece is connected with the first articulated shaft and the second articulated shaft, and the first finger section and the second finger section keep static relatively through the pretightening force of the first elastic piece. One end of the second elastic piece is connected with the first finger section, the other end of the second elastic piece is used for being connected with the fixed device, and the first finger section and the fixed device keep static relatively through the pretightening force of the second elastic piece. One end of the pull line extends along the first finger section from the end, close to the fixed device, of the first finger section and extends along the second finger section after winding around a certain portion on the first finger section, the end of the pull line and the second finger section are fixed, and the other end of the pull line is used for being connected with a driving device used for driving the finger to act. The mechanical finger and the mechanical arm make elastic contact with an article.

Description

technical field [0001] The present invention relates to the field of robotics. Specifically, it is a mechanical finger and a mechanical hand with the mechanical finger. Background technique [0002] Manipulator is a kind of equipment widely used in various fields. This kind of equipment not only has long working hours and high work efficiency, but also has more precise and stable movements than humans. Therefore, it is playing an increasingly important role. Manipulators generally use high-precision driving devices and transmission devices, such as motors and gears, and some even use electromagnetic-generating components such as coils to use magnetic force as the driving force. In order to achieve higher accuracy, it is necessary to carefully calculate and determine the parameters of the drive and transmission of the manipulator, such as transmission ratio, current intensity, etc., so that the action of the manipulator is better suited to the size of the item to be clamped ...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the disadvantage that the existing manipulator can only be used for one size and shape of the item, and the hard contact with the item to be gripped will easily cause deformation or damage of the item, and provide a robot that can be applied to different A mechanical finger that can hold objects of any size and shape with an elastic contact force to prevent deformation and damage to the object

Images