Variable-posture joint type dexterous hand

Abstract

The invention discloses a variable-posture joint type dexterous hand, and belongs to the technical field of mechanical hands. The variable-posture joint type dexterous hand comprises a base, a jacking assembly and a clamping assembly, wherein the jacking assembly and the clamping assembly are arranged on the base; the jacking assembly is in sliding fit with the base; and the clamping assembly comprises a plurality of multi-connecting-rod fingers which are connected to the edge of the base and can be changed in form. According to the variable-posture joint type dexterous hand, the jacking assembly and the clamping assembly are arranged on the base, the multi-connecting-rod fingers capable of changing various grabbing forms are arranged on the clamping assembly; and when an object needs to be grabbed, the jacking assembly is used for jacking the top surface of the object, the multi-connecting-rod fingers are used for grabbing the outer side of the object, the object is grabbed through the cooperation of the jacking assembly and the clamping assembly, and therefore the grabbing function under the condition of the complex contour of the object is realized.

Description

technical field

[0001] The invention relates to the technical field of manipulators, in particular to a dexterous hand with variable posture joints. Background technique

[0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The feature is that various expected operations can be completed through programming, and the structure and performance have both the advantages of man and robot. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. In the prior art, the grasping structure of the manipulator is relatively simple, ...

Examples

Embodiment

[0040] refer to figure 1 , a posture-changing joint-type dexterous hand, comprising: a base 10 and a clamping assembly 20 and a clamping assembly 30 respectively arranged on the base 10 .

[0041] refer to figure 1 , figure 2 and image 3 , the base 10 includes: two connected discs 11, the center positions of the two discs 11 are respectively provided with corresponding sliding holes 12, and the clamping assembly 20 is penetrated and arranged in the sliding holes 12, so that when grabbing objects Jacking the top surface of the object. A fixing hole is also provided on the outer side of the sliding hole 12 , and the connecting piece passes through the fixing hole so as to connect and fix the two discs 11 . The top and bottom surfaces of the two disks 11 are respectively provided with annular rolling grooves 13, on which the sliding assembly 50 is fitted, the clamping assembly 30 is connected to the sliding assembly 50, and the sliding assembly 50 moves along the circular r...

technical field

[0001] The invention relates to the technical field of manipulators, in particular to a dexterous hand with variable posture joints. Background technique

[0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The feature is that various expected operations can be completed through programming, and the structure and performance have both the advantages of man and robot. The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. In the prior art, the grasping structure of the manipulator is relatively simple, ...

Examples

Embodiment

[0040] refer to figure 1 , a posture-changing joint-type dexterous hand, comprising: a base 10 and a clamping assembly 20 and a clamping assembly 30 respectively arranged on the base 10 .

[0041] refer to figure 1 , figure 2 and image 3 , the base 10 includes: two connected discs 11, the center positions of the two discs 11 are respectively provided with corresponding sliding holes 12, and the clamping assembly 20 is penetrated and arranged in the sliding holes 12, so that when grabbing objects Jacking the top surface of the object. A fixing hole is also provided on the outer side of the sliding hole 12 , and the connecting piece passes through the fixing hole so as to connect and fix the two discs 11 . The top and bottom surfaces of the two disks 11 are respectively provided with annular rolling grooves 13, on which the sliding assembly 50 is fitted, the clamping assembly 30 is connected to the sliding assembly 50, and the sliding assembly 50 moves along the circular r...

Images