Three-level rotary figure mechanism adopting double-layer return drive
A finger, double-layer technology, applied in the field of three-level rotary finger mechanism, can solve the problems of large joint influence and large space occupation, and achieve the effect of simplifying the structure of the manipulator and saving space.
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[0037] Example one
[0038] Such as Figure 1 to Figure 5 As shown, it is a schematic diagram of the principle of a double-layer fold-back drive finger mechanism in an embodiment of the present invention. The double-layer fold-back drive finger mechanism in an embodiment of the present invention includes a finger frame, a gear transmission group, a motor, a screw, and a screw Nut and finger body. The gear transmission group includes a first gear and a second gear that mesh with each other, and the finger body and the finger frame are rotatably connected through the first rotating shaft.
[0039] The motor 311 is fixed in the finger frame 31 and is connected to the first gear 321 of the gear transmission group 32 through an output shaft. In practical applications, since the rotation speed output by the motor 311 may be different from the actual required rotation speed, a deceleration component may also be included to adjust the rotation speed output by the motor. The motor 311 and ...
Example Embodiment
[0048] Example two
[0049] Compared with the first embodiment, this embodiment provides an alternative solution to the implementation of fixing the nut 35 relative to the finger holder 31 in the radial direction in the first embodiment. The fixing of the nut 35 with respect to the finger holder 31 in the radial direction means that the nut 35 is bound in the radial direction and released in the axial direction. When the screw 34 rotates, the nut 35 can move in the radial direction. The lower part of the finger rack 31 is provided with a sliding guide rail, and the nut 35 is connected with the finger rack 31 through the sliding guide rail, so that the nut 35 is fixedly connected with the finger rack 31 in the radial direction and can slide in the axial direction. The sliding guide rail may not have a bearing function, and only provide a restraint effect in the radial direction. More preferably, the nut 35 is clamped on the sliding guide rail, so that the sliding guide rail can pl...
Example Embodiment
[0050] Example three
[0051] Such as Figure 6 to Figure 11 As shown, it is a schematic diagram of the principle of the finger mechanism driven by the double-layer folding back of the third embodiment. The difference between this embodiment and the second embodiment is that the finger body of this embodiment includes a base knuckle and a proximal knuckle, and accordingly, the way the nut drives it is also different.
[0052] The above-mentioned base knuckle 42 is rotatably connected with the finger frame 31 through the first rotating shaft 40, and the base knuckle 42 and the proximal finger 43 are rotatably connected through the second rotating shaft 44, and are arranged between the proximal finger 43 and the finger frame 31 There is a first pull rod 45. One end of the first pull rod 45 is rotatably connected to the finger frame 31 through a third rotation shaft 46, and the other end of the first pull rod 45 is rotatably connected to the proximal knuckle 43 through a fourth rotati...
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