An intelligent robotic mechanical knuckle

Abstract

The application belongs to the technical field of mechanical hands, and discloses an intelligent robot mechanical finger joint, which comprises a palm plate, a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure movably sleeved with the palm plate, the index finger structure is a connecting finger joint, the bottom of the palm plate is movably sleeved with a rotating cover, the top of the rotating cover is engaged with a connecting gear, the middle of the connecting gear is fixedly connected with a movable assembly, and the two sides of the movable assembly are fixedly connected with positioning assemblies. Through the cooperation of the rotating cover, the connecting finger joint, the connecting gear and other structures, the extrusion assembly is driven to move to the direction of the limiting frame through the rotation of the bolt gear set, so that the extrusion assembly extrudes the matching assembly, the matching assembly moves in the limiting frame, the first tooth ring engaged with the connecting tooth plate is deflected, the movement in the horizontal direction is achieved, and the gripping range is increased.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically an intelligent robot mechanical finger joint. Background Technology

[0002] Technological advancements have driven the development of the manufacturing industry. Robots are devices that automatically perform tasks. They can be commanded by humans or act according to pre-programmed procedures, and can replace human work. The robotic hand is an important component of a robot, and its ability to grasp objects directly relates to the value of the robot's fingers. Currently, robotic hands on the market use a structure that simulates the human hand to perform grasping operations. However, most of their grasping methods involve the knuckles swinging in one direction, while the human hand grasps with all five fingers spread apart. This spread-out grasping method covers a wider area. Therefore, improvements are needed to address these issues. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] To address the problems mentioned in the background art, the present invention provides an intelligent robot mechanical joint. Through the cooperation of a rotating cover, connecting joint, connecting gear, and other structures, the bolt gear set rotates to drive the extrusion assembly to move towards the limiting frame. This causes the extrusion assembly to extrude the mating assembly, making the mating assembly move inside the limiting frame. In turn, this causes the first toothed ring meshing with the connecting toothed plate to deflect, achieving horizontal movement. This has the advantage of a wide grasping range.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mechanical phalanx for an intelligent robot, comprising a palm plate and thumb, index finger, middle finger, ring finger, and little finger structures movably sleeved on the palm plate. The index finger structure is a connecting phalanx. A rotating cover is movably sleeved on the bottom of the palm plate. A connecting gear is engaged on the top of the rotating cover. A movable component is fixedly connected to the middle of the connecting gear. Positioning components are fixedly connected to both sides of the movable component. A transmission component is movably sleeved on the surface of the connecting gear. A moving component is movably sleeved on the end of the transmission component away from the connecting gear. A driving component is engaged on the end of the moving component away from the transmission component. A mating component is engaged in the middle of the rotating cover. The mating component is movably sleeved inside a limiting frame. A bolt gear set is engaged at the front end of the driving component. A pressing component is threadedly connected to one end of the bolt gear set.

[0007] Preferably, the rotating cover includes a cover body, a first toothed ring is fixedly installed on the outer surface of the cover body, and an arc-shaped groove is formed on the inner wall of the cover body, with the top of the arc-shaped groove being in a through state.

[0008] Preferably, the connecting joint includes a connecting ball, a second toothed ring is fixedly installed on the middle of the outer surface of the connecting ball, a first joint is fixedly connected to the bottom of the connecting ball, and a second joint and a third joint are sequentially hinged to the bottom of the first joint.

[0009] Preferably, the movable component includes a fixed sleeve, with a first connecting rod movably sleeved at both ends of the fixed sleeve. A universal joint is fixedly connected to the end of the first connecting rod away from the fixed sleeve, and the other end of the universal joint is fixedly connected to a positioning component. The middle part of the fixed sleeve is fixedly connected to a connecting gear.

[0010] Preferably, the positioning component includes a first ball joint rod, a positioning plate is movably sleeved on the middle of the first ball joint rod, the first ball joint rod is fixedly connected to a universal joint, the positioning plate is fixedly connected to the palm plate, and the end of the first ball joint rod away from the universal joint rod located on the positioning plate away from the universal joint rod is movable inside the palm plate.

[0011] Preferably, the transmission assembly includes a second connecting rod, one end of which is movably sleeved with a second ball shaft, and the middle part of the second ball shaft is movably sleeved with a connecting gear.

[0012] Preferably, the movable component includes a movable block, and a third connecting rod is fixedly connected to both sides of the movable block, the third connecting rod being movably sleeved with the second connecting rod.

[0013] Preferably, the drive assembly includes a drive motor, a first gear is fixedly mounted in the middle of the output shaft of the drive motor, a first threaded rod is fixedly connected to the end of the output shaft of the drive motor, the first threaded rod is threadedly connected to the movable block, and the drive motor is fixedly mounted inside the palm plate.

[0014] Preferably, the limiting frame includes a limiting frame body, with connecting blocks spaced apart at one end inside the limiting frame body. The limiting frame body is fixedly installed inside the palm plate. A mating assembly is movably sleeved inside the limiting frame body. The mating assembly includes a connecting toothed plate, with ball bearings installed on both sides of the connecting toothed plate. A fixing block is fixedly connected to the side of the connecting toothed plate adjacent to the ball bearings. A spring is fixedly installed on one side of the fixing block along the length direction of the connecting toothed plate. The connecting block is fixedly connected to the other end of the spring. The ball bearings slide along the groove inside the limiting frame body. The side of the connecting toothed plate away from the spring engages with a first toothed ring.

[0015] Preferably, the extrusion assembly includes a movable push plate located inside the palm plate. Three movable push rods are fixedly installed on the side of the movable push plate near the limiting frame. Positioning posts are movably sleeved at both ends of the movable push plate. The positioning posts are fixedly connected to the limiting frame body. The bolt gear set is threadedly connected to the movable push plate. When the movable push plate moves towards the limiting frame along the axial direction of the positioning posts, the movable push rods extrude pressure on the mating assembly.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The present invention utilizes the combination of a rotating cover, connecting finger joints, connecting gears, and other structures. The rotation of the bolt gear set drives the extrusion assembly to move towards the limiting frame, thereby extruding the extrusion assembly onto the mating assembly. This causes the mating assembly to move inside the limiting frame, which in turn causes the first toothed ring meshing with the connecting toothed plate to deflect, achieving horizontal movement and thus increasing the gripping range.

[0019] This invention utilizes a rotating cover, connecting knuckles, connecting gears, and other structures to rotate a bolt gear set, which drives the extrusion assembly to move towards the limiting frame. This causes the extrusion assembly to press against the mating assembly, making the mating assembly move inside the limiting frame. This, in turn, causes the first toothed ring meshing with the connecting toothed plate to deflect, achieving horizontal movement. During the gripping process, when the robotic hand's fingers are spread out, the five fingers are separated. However, when the fingers are bent to grip, the bending of the fingers simultaneously shortens the distance between the knuckles, thereby increasing the stability of the grip.

[0020] This invention utilizes a combination of a rotating cover, connecting knuckles, and connecting gears. The rotation of the bolt gear set drives the extrusion assembly to move towards the limiting frame, thereby extruding the mating assembly and causing it to move within the limiting frame. This, in turn, causes the first toothed ring meshing with the connecting toothed plate to deflect, achieving horizontal movement. During the grasping process, when the robotic hand's fingers are spread out, they are separated. However, when the fingers are bent to grasp, the bending of the fingers simultaneously shortens the distance between the knuckles, resulting in a more accurate simulation of the grasping form of a human hand. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a cross-sectional view of the palm plate structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the overall structure of the finger of the present invention;

[0024] Figure 4This is a schematic diagram of the structure of the limiting frame of the present invention;

[0025] Figure 5 This is a detailed structural diagram of the driving component of the present invention;

[0026] Figure 6 This is a structural separation diagram of the rotating cover of the present invention;

[0027] Figure 7 This is a detailed structural diagram of the transmission component of the present invention;

[0028] Figure 8 This is a detailed structural diagram of the active component of the present invention;

[0029] Figure 9 This is a horizontal sectional view of the structure at the limiting frame of the present invention;

[0030] Figure 10 For the present invention Figure 9 Enlarged view of point A in the middle;

[0031] Figure 11 This is a detailed structural diagram of the component parts of the present invention;

[0032] Figure 12 This is a comparison diagram of the finger structure and index finger structure in this invention.

[0033] In the diagram: 1. Palm plate; 2. Rotating cover; 21. Cover body; 22. First gear ring; 3. Connecting knuckle; 31. Connecting ball; 32. Second gear ring; 33. First knuckle; 4. Connecting gear; 5. Movable assembly; 51. Fixed sleeve; 52. First connecting rod; 53. Universal joint; 6. Positioning assembly; 61. First ball shaft; 62. Positioning plate; 7. Transmission assembly; 71. Second connecting rod; 72. Second ball shaft; 8. Moving assembly; 81 82. Movable block; 93. Third connecting rod; 10. Drive assembly; 11. Drive motor; 12. First gear; 13. First threaded rod; 14. Limiting frame; 15. Limiting frame body; 16. Connecting stop block; 17. Mating assembly; 18. Connecting toothed plate; 19. Ball bearing; 10. Spring; 10. Fixing block; 11. Pressing assembly; 12. Movable push plate; 12. Movable push rod; 12. Positioning column; 13. Bolt gear set. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1 to 12 As shown, the present invention provides a mechanical phalanx for an intelligent robot, including a palm plate 1 and a thumb structure, an index finger structure, a middle finger structure, a ring finger structure, and a little finger structure that are movably sleeved with the palm plate 1. The index finger structure is a connecting phalanx 3. A rotating cover 2 is movably sleeved on the bottom of the palm plate 1. A connecting gear 4 is engaged on the top of the rotating cover 2. A movable component 5 is fixedly connected to the middle of the connecting gear 4. Positioning components 6 are fixedly connected to both sides of the movable component 5. A transmission component 7 is movably sleeved on the surface of the connecting gear 4. A moving component 8 is movably sleeved on the end of the transmission component 7 away from the connecting gear 4. A driving component 9 is engaged on the end of the moving component 8 away from the transmission component 7. A mating component 11 is engaged in the middle of the rotating cover 2. The mating component 11 is movably sleeved inside the limiting frame 10. A bolt gear set 13 is engaged at the front end of the driving component 9. A pressing component 12 is threadedly connected to one end of the bolt gear set 13.

[0036] Using the above scheme: by activating the drive component 9, the moving component 8 can be moved forward synchronously, thereby driving the transmission component 7 to generate a thrust on the connecting gear 4, which in turn causes the connecting gear 4 to rotate. Due to the limiting effect of the rotating cover 2 on the connecting knuckle 3, the connecting gear 4 can drive the connecting knuckle 3 to flip and swing, thereby completing the grasping action. The second and third knuckles are existing technologies, and this application does not involve any improvement to them, so they will not be described in detail. When the grasping action ends and the knuckles are released, the drive component 9 rotates in the opposite direction to drive the fingers to unfold. During the unfolding process, under the rotation of the bolt gear set 13, the movable push plate 121 drives the movable push rod 122 to squeeze the mating component 11, thereby allowing different finger structures to unfold in the horizontal direction, more precisely simulating the grasping form of the human hand, and also increasing the grasping range. The middle finger structure is different from the index finger structure, ring finger structure, and little finger structure. The difference is that the cover 21 of the middle finger structure does not have a first toothed ring 22 on its surface. Figure 12 The 2-C section shows the structure, while the 2-B section shows the structural shapes of the index finger, ring finger, and little finger.

[0037] like Figure 5 , Figure 6 As shown, the rotating cover 2 includes a cover body 21, a first toothed ring 22 is fixedly installed on the outer surface of the cover body 21, an arc-shaped groove is opened on the inner wall of the cover body 21, the top of the arc-shaped groove is in a through state, the connecting finger joint 3 includes a connecting ball 31, a second toothed ring 32 is fixedly installed in the middle of the outer surface of the connecting ball 31, a first finger joint 33 is fixedly connected to the bottom of the connecting ball 31, and a second finger joint and a third finger joint are sequentially hinged to the bottom of the first finger joint 33;

[0038] The above solution is adopted: the cover 21 limits the connecting ball 31 to ensure that the connecting knuckle 3 does not fall off. At the same time, the second toothed ring 32 is installed on the surface of the connecting ball 31. The second toothed ring 32 is placed through the arc-shaped groove on the inner wall of the cover 21, which can also play a limiting role. The second and third knuckles are only found in the index finger, middle finger, ring finger and little finger structures. The thumb structure does not have a third knuckle.

[0039] like Figure 7 , Figure 8 As shown, the movable component 5 includes a fixed sleeve 51, with a first connecting rod 52 movably sleeved at both ends of the fixed sleeve 51. A universal joint 53 is fixedly connected to one end of the first connecting rod 52 away from the fixed sleeve 51, and the other end of the universal joint 53 is fixedly connected to the positioning component 6. The middle part of the fixed sleeve 51 is fixedly connected to the connecting gear 4. The positioning component 6 includes a first ball shaft 61, with a positioning plate 62 movably sleeved at the middle part of the first ball shaft 61. The first ball shaft 61 is fixedly connected to the universal joint 53, and the positioning plate 62 is fixedly connected to the palm plate 1. The end of the first ball shaft 61 away from the universal joint 53 located on the positioning plate 62 away from the universal joint 53 can move inside the palm plate 1.

[0040] The above scheme is adopted: the fixed sleeve 51 and the first connecting rod 52 can be telescopic, and when the rotating cover 2 is driven to rotate, the connecting gear 4 is driven to deflect. Because the universal joint 53 is set, the length can be guaranteed to be appropriate, so the stability of the structure can be guaranteed. That is, the connecting gear 4 can deflect accordingly. At the same time, through the design of the positioning component 6, the positioning plate 62 is fixed by the palm plate 1, thereby limiting the first ball shaft rod 61, further ensuring the rationality of the structure.

[0041] like Figure 4 , Figure 5 , Figure 7 As shown, the transmission assembly 7 includes a second connecting rod 71, with a second ball shaft 72 movably sleeved inside one end of the second connecting rod 71, and the middle part of the second ball shaft 72 movably sleeved with the connecting gear 4. The moving assembly 8 includes a movable block 81, with a third connecting rod 82 fixedly connected to both sides of the movable block 81, and the third connecting rod 82 movably sleeved with the second connecting rod 71. The drive assembly 9 includes a drive motor 91, with a first gear 92 fixedly installed in the middle of the output shaft of the drive motor 91, and a first threaded rod 93 fixedly connected to the end of the output shaft of the drive motor 91, and the first threaded rod 93 threadedly connected to the movable block 81. The drive motor 91 is fixedly installed inside the palm plate 1.

[0042] The above scheme is adopted: the start of the drive motor 91 drives the first gear 92 and the first threaded rod 93 to rotate, thereby causing the moving component 8 to move along the axial direction of the first threaded rod 93. Then, the thrust drives the connecting gear 4 to rotate, ultimately achieving the deflection of the connecting finger 3. The palm plate 1 limits the moving block 81, ensuring that the moving component 8 moves straight under the rotation of the first threaded rod 93, thus ensuring the stability and rationality of the structure.

[0043] like Figure 9 , Figure 10 , Figure 11 As shown, the limiting frame 10 includes a limiting frame body 101. Connecting blocks 102 are spaced apart and installed at one end inside the limiting frame body 101. The limiting frame body 101 is fixedly installed inside the palm plate 1. A mating assembly 11 is movably sleeved inside the limiting frame body 101. The mating assembly 11 includes a connecting toothed plate 111. Ball bearings 112 are installed on both sides of the connecting toothed plate 111. A fixing block 114 is fixedly connected to the side of the connecting toothed plate 111 adjacent to the ball bearings 112. A spring 113 is fixedly installed on one side of the fixing block 114 along the length direction of the connecting toothed plate 111. The connecting blocks 102 are fixedly connected to the other end of the spring 113. The ball bearings 112... The limiting frame 101 slides in the groove inside. The connecting toothed plate 111 engages with the first toothed ring 22 on the side away from the spring 113. The pressing assembly 12 includes a movable push plate 121 located inside the palm plate 1. Three movable push rods 122 are fixedly installed on the side of the movable push plate 121 near the limiting frame 10. Positioning pins 123 are movably sleeved at both ends of the movable push plate 121. The positioning pins 123 are fixedly connected to the limiting frame 101. The bolt gear set 13 is threadedly connected to the movable push plate 121. When the movable push plate 121 moves towards the limiting frame 10 along the axial direction of the positioning pins 123, the movable push rods 122 press against the mating assembly 11.

[0044] The above scheme is adopted: three movable push rods 122 in different positions push the mating components 11 on the index finger structure, ring finger structure and little finger structure respectively, thereby driving the first toothed ring 22 to rotate through the connecting toothed plate 111, thereby achieving the change between the finger spacing. Due to the design of the spring 113, the mating components 11 can return to their original position when there is no pressure. The positioning post 123 can also guide the movement of the movable push plate 121.

[0045] Working principle and usage process of this invention:

[0046] When gripping, the drive motor 91 is started to drive the first gear 92 and the first threaded rod 93 to rotate. The first threaded rod 93 can drive the moving component 8 to move forward as a whole through rotation, thereby driving the transmission component 7, which is movably connected to the moving component 8, to generate a thrust on the connecting gear 4, thereby causing the connecting gear 4 to rotate. Due to the limiting of the connecting finger joint 3 by the rotating cover 2, the connecting finger joint 3 can be driven to flip and swing through the connecting gear 4, thereby completing the gripping action.

[0047] When the gripping action ends and the knuckles are released, the first threaded rod 93 rotates in the opposite direction, causing the fingers to unfold. During the unfolding process, the first gear 92 rotates synchronously, causing the bolt gear set 13 to rotate. The bolt gear set 13 causes the pressing component 12 to move, causing the movable push plate 121 to move towards the limiting frame 10. This causes the movable push rod 122 to press the mating component 11, thereby causing the corresponding rotating cover 2 to deflect horizontally. This allows different finger structures to unfold horizontally, more precisely simulating the gripping form of a human hand and also increasing the gripping range.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A kind of intelligent robot mechanical phalanx, comprising a palm plate (1) and a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure movably sleeved with the palm plate (1), wherein the index finger structure is a connecting phalanx (3), characterized in that: The bottom of the palm plate (1) is movably fitted with a rotating cover (2), the top of the rotating cover (2) is engaged with a connecting gear (4), the middle of the connecting gear (4) is fixedly connected with a movable component (5), both sides of the movable component (5) are fixedly connected with positioning components (6), the surface of the connecting gear (4) is movably fitted with a transmission component (7), the end of the transmission component (7) away from the connecting gear (4) is movably fitted with a moving component (8), the end of the moving component (8) away from the transmission component (7) is engaged with a driving component (9), the middle of the rotating cover (2) is engaged with a mating component (11), the mating component (11) is movably fitted inside the limiting frame (10), the front end of the driving component (9) is engaged with a bolt gear set (13), and one end of the bolt gear set (13) is threadedly connected with a pressing component (12). The rotating cover (2) includes a cover body (21), a first toothed ring (22) is fixedly installed on the outer surface of the cover body (21), and an arc-shaped groove is opened on the inner wall of the cover body (21), with the top of the arc-shaped groove being in a through state; The connecting phalanx (3) includes a connecting ball (31), a second toothed ring (32) is fixedly installed on the middle of the outer surface of the connecting ball (31), a first phalanx (33) is fixedly connected to the bottom of the connecting ball (31), and a second phalanx and a third phalanx are sequentially hinged to the bottom of the first phalanx (33). The drive assembly (9) includes a drive motor (91), a first gear (92) is fixedly installed in the middle of the output shaft of the drive motor (91), and a first threaded rod (93) is fixedly connected to the end of the output shaft of the drive motor (91); the extrusion assembly (12) includes a movable push plate (121) located inside the palm plate (1), and three movable push rods (122) are fixedly installed at intervals on the side of the movable push plate (121) near the limit frame (10). When the gripping action ends and the knuckles are released, the first threaded rod (93) rotates in the opposite direction to drive the fingers to unfold. During the unfolding process, the first gear (92) rotates synchronously to drive the bolt gear set (13) to rotate. The bolt gear set (13) drives the pressing component (12) to move, causing the movable push plate (121) to move towards the limit frame (10), thereby driving the movable push rod (122) to press the mating component (11), which in turn drives the corresponding rotating cover (2) to deflect in the horizontal direction, so that different finger structures can unfold in the horizontal direction.

2. The intelligent robot mechanical phalanx according to claim 1, characterized in that: The movable component (5) includes a fixed sleeve (51), both ends of which are movably fitted with a first connecting rod (52). One end of the first connecting rod (52) away from the fixed sleeve (51) is fixedly connected to a universal joint (53), the other end of the universal joint (53) is fixedly connected to a positioning component (6), and the middle part of the fixed sleeve (51) is fixedly connected to a connecting gear (4).

3. The intelligent robot mechanical phalanx according to claim 2, characterized in that: The positioning component (6) includes a first ball joint (61), a positioning plate (62) is movably sleeved on the middle of the first ball joint (61), the first ball joint (61) is fixedly connected to the universal joint (53), the positioning plate (62) is fixedly connected to the palm plate (1), and the end of the first ball joint (61) away from the universal joint (53) and located on the positioning plate (62) away from the universal joint (53) can move inside the palm plate (1).

4. The intelligent robot mechanical phalanx according to claim 1, characterized in that: The transmission assembly (7) includes a second connecting rod (71), one end of which is movably sleeved with a second ball shaft (72), and the middle part of the second ball shaft (72) is movably sleeved with a connecting gear (4).

5. The intelligent robot mechanical phalanx according to claim 4, characterized in that: The movable component (8) includes a movable block (81), and a third connecting rod (82) is fixedly connected to both sides of the movable block (81). The third connecting rod (82) is movably connected to the second connecting rod (71).

6. The intelligent robot mechanical phalanx according to claim 5, characterized in that: The first threaded rod (93) is threadedly connected to the movable block (81), and the drive motor (91) is fixedly installed inside the palm plate (1).

7. The intelligent robot mechanical phalanx according to claim 1, characterized in that: The limiting frame (10) includes a limiting frame body (101), with connecting blocks (102) spaced apart at one end inside the limiting frame body (101). The limiting frame body (101) is fixedly installed inside the palm plate (1). A mating assembly (11) is movably sleeved inside the limiting frame body (101). The mating assembly (11) includes a connecting toothed plate (111), with ball bearings (112) installed on both sides of the connecting toothed plate (111). 1) A fixing block (114) is fixedly connected to the side of the surface adjacent to the ball (112). A spring (113) is fixedly installed on one side of the fixing block (114) along the length direction of the connecting toothed plate (111). The connecting stop (102) is fixedly connected to the other end of the spring (113). The ball (112) slides in the groove inside the limiting frame (101). The side of the connecting toothed plate (111) away from the spring (113) meshes with the first toothed ring (22).

8. The intelligent robot mechanical phalanx according to claim 7, characterized in that: Both ends of the movable push plate (121) are movably sleeved with positioning posts (123). The positioning posts (123) are fixedly connected to the limiting frame (101). The bolt gear set (13) is threadedly connected to the movable push plate (121). When the movable push plate (121) moves towards the limiting frame (10) along the axial direction of the positioning posts (123), the movable push rod (122) squeezes the mating assembly (11).

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