Robot finger structure

Abstract

The utility model discloses a robot finger structure, which relates to the field of robot hands, and comprises a finger base, the outer wall of the finger base is fixedly connected with a connecting block, the end part of the connecting block is internally and rotatably connected with a rotating shaft body I, and the connecting block is rotatably connected with a finger section I through the rotating shaft body I; the finger section I and the finger section II are rotationally connected through a rotating shaft body II; the finger further comprises a mounting assembly I; and mounting the assembly II. One end of the first finger section is rotationally connected with the finger base through the first installation assembly, the other end of the first finger section is rotationally connected with the second finger section through the second installation assembly, and therefore the first finger section, the second finger section and the finger base are installed in a sectional mode. And the movement of the two finger sections is controlled through the first rotating shaft body and the second rotating shaft body correspondingly, so that replacement, disassembly and subsequent installation of any finger section are more convenient.

Description

Technical Field

[0001] The utility model relates to the field of robot hands, in particular to a robot finger structure. Background Art

[0002] For industrial robots, material handling is one of the more important applications of their grasping operations. As a highly versatile operating equipment, whether an industrial robot can successfully complete its operating tasks directly depends on the clamping mechanism. The key role of robot manipulators in industrial robot workpiece handling cannot be ignored. Robot hands are usually composed of palms, fingers, joints, actuators, sensors and other parts. The palms are usually made of hard materials, and the fingers are sometimes made of flexible materials to increase flexibility. Robot hands can improve production efficiency, accuracy and safety.

[0003] The existing robot fingers still have the following problems when in use: the connections between the finger segments of the existing robot fingers are mostly continuous overall installations. Therefore, when the finger segments are worn out during the use of the robot fingers and need to be replaced in time, the entire replacement requires disassembly of many parts and is relatively cumbersome, affecting the subsequent overall production efficiency. Therefore, it is necessary to invent a robot finger structure to solve the above problems. Summary of the invention

[0004] The purpose of the utility model is to provide a robot finger structure to solve the problem that the connections between the finger segments of the existing robot fingers mentioned in the above background technology are mostly continuous integral installations. In this way, when the finger segments are worn out during the use of the robot fingers and need to be replaced in time, the entire replacement requires disassembly of many parts and is relatively cumbersome, which affects the subsequent overall production efficiency.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot finger structure, including a finger base, the outer wall of the finger base is fixedly connected with a connecting block, and the end of the connecting block is rotatably connected with a rotating shaft body 1, and the connecting block is rotatably connected with a finger segment 1 through the rotating shaft body 1, and the finger segment 1 and the finger segment 2 are rotatably connected through the rotating shaft body 2, and also includes: an installation component 1, a square rod is movably inserted in a square groove reserved inside the rotating shaft body 1 and an insertion interface reserved in the end of the finger segment 1, and a stud is fixedly connected to the lower end of the square rod, and a threaded sleeve is threadedly sleeved on the outer wall of the stud; an installation component 2, a movable groove is reserved in one end of the finger segment 2, and a slider is movably connected to the movable groove through a spring and a pull rope, the outer end of the pull rope is fixedly connected with a shift block, and the end of the slider matches the fitting groove reserved in the rotating shaft body 2 rotatably connected in the end of the finger segment 1.

[0006] Preferably, a circular top plate with a diameter greater than the side length of the square rod is fixedly connected to the top of the square rod, and a stud fixedly connected to the lower end of the square rod has a diameter less than the length of a line connecting the midpoints of two parallel sides of the square rod; the outer wall of the square rod is in contact with and slidably connected to the inner wall of the square groove and the inner wall of the plug interface.

[0007] Preferably, there are two movable grooves, and the two movable grooves are symmetrically arranged with reference to the transverse central axis of finger segment two as the symmetry axis, and the two movable grooves are connected by a transverse, "T"-shaped wire groove, and the pull rope moves in the reserved wire groove; grooves are respectively provided at the upper and lower positions of the upper and lower movable grooves, and the grooves are located at the top and bottom of finger segment one, and the grooves are not connected to the movable groove.

[0008] Preferably, the slider is composed of body block one and body block two, and both body block one and body block two are square, and body block one is always located in the movable groove, the inner wall of body block one is in contact with and slidably connected to the inner wall of the movable groove, and body block two extends to the outside of finger segment two and is movably connected to finger segment two up and down.

[0009] Preferably, the pull rope is in a "T" shape and is composed of two nylon ropes. The rear end of the pull rope is assembled into one rope, and the front end of the pull rope is two ropes. The two ropes at the front end of the pull rope are respectively passed through wire grooves connected to two movable grooves and are fixedly connected to the ends of two groups of sliders that are movably connected to the two movable grooves.

[0010] Preferably, two springs are provided, and two ends of the springs are respectively fixedly connected to an outer wall of the body block in the slider and an inner wall of the movable groove.

[0011] In the above technical scheme, the technical effects and advantages provided by the utility model are as follows: the utility model rotatably connects one end of finger segment one to the finger base through mounting assembly one, and rotatably connects the other end of finger segment one to finger segment two through mounting assembly two, so that finger segment one, finger segment two and the finger base are installed in sections, and the movement of the two finger segments is respectively controlled by rotating shaft body one and rotating shaft body two, which makes it more convenient to replace and disassemble any finger segment as well as to install it later; the square rod is inserted into the plug-in interface and the square groove, and the threaded sleeve is rotated so that the threaded sleeve is threadedly connected to the stud fixedly connected to the lower end of the square rod, which makes the installation of finger segment one and the finger base more tightly, and at the same time, the matching of the slider and the reserved engaging groove in the rotating shaft body two makes the installation of finger segment one and finger segment two tightly, thereby ensuring the firmness of the entire finger structure in subsequent use, and saving time and effort when replacing it. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0013] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;

[0014] Figure 2 It is an exploded view of the overall structure of the utility model;

[0015] Figure 3 It is an exploded view of the connection structure between the finger segment 1 and the finger segment 2 of the utility model;

[0016] Figure 4 It is an exploded view of the partial cutaway state of the finger segment 2 of the present invention.

[0017] Explanation of the reference numerals in the accompanying drawings: 1. Finger base; 11. Connecting block; 2. Finger segment one; 3. Rotating shaft body one; 4. Mounting component one; 41. Square rod; 42. Stud; 43. Threaded sleeve; 44. Square groove; 45. Plug interface; 5. Finger segment two; 6. Mounting component two; 61. Groove; 62. Movable groove; 63. Wire groove; 64. Slider; 641. Body block one; 642. Body block two; 65. Fitting groove; 66. Spring; 67. Pull rope; 68. Dial block; 7. Rotating shaft body two. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0019] The utility model provides Figure 1-4The robot finger structure shown in the figure includes a finger base 1, the outer wall of the finger base 1 is fixedly connected to a connecting block 11, and the end of the connecting block 11 is rotatably connected to a rotating shaft body 3, and the connecting block 11 is rotatably connected to a finger segment 2 through the rotating shaft body 3, and the finger segment 2 and the finger segment 5 are rotatably connected through the rotating shaft body 2 7, and the movement of the two finger segments is driven by the self-driving of the rotating shaft body 3 and the rotating shaft body 2 7, and also includes: an installation component 4, a square groove 44 reserved inside the rotating shaft body 3, and the finger segment 2 A square rod 41 is movably inserted into the plug interface 45 reserved in the end, and a stud 42 is fixedly connected to the lower end of the square rod 41, and a threaded sleeve 43 is threadedly sleeved on the outer wall of the stud 42; an installation component 2 6 is provided with a movable groove 62 reserved in one end of the finger segment 2 5, and a slider 64 is movably connected to the movable groove 62 through a spring 66 and a pull rope 67, a shift block 68 is fixedly connected to the outer end of the pull rope 67, and the end of the slider 64 matches the reserved fitting groove 65 in the rotating shaft body 2 7 rotatably connected in the end of the finger segment 1 2.

[0020] A circular top plate having a diameter greater than the side length of the square rod 41 is fixedly connected to the top of the square rod 41, and a stud 42 having a diameter less than the length of a line connecting the midpoints of two parallel sides of the square rod 41 is fixedly connected to the lower end of the square rod 41, so that the square rod 41 and the stud 42 can pass through the square groove 44 and the plug-in port 45 smoothly; the outer wall of the square rod 41 is in contact with and slidably connected to the inner wall of the square groove 44 and the inner wall of the plug-in port 45.

[0021] There are two movable grooves 62, and the two movable grooves 62 are symmetrically arranged with reference to the transverse central axis of the second finger segment 5 as the symmetry axis, and the two movable grooves 62 are connected by a transverse, "T"-shaped wire groove 63, and the pull rope 67 moves in the reserved wire groove 63, so that the pull rope 67 drives the sliders 64 movably connected in the two movable grooves 62 to move;

[0022] Grooves 61 are respectively provided at the upper and lower positions of the upper and lower movable grooves 62 . The grooves 61 are located at the top and bottom of the finger segment 1 2 . The grooves 61 are not connected to the movable groove 62 . The grooves 61 leave space for the second body block 642 to move.

[0023] The slider 64 is composed of a body block 1 641 and a body block 2 642, and both the body block 1 641 and the body block 2 642 are square, and the body block 1 641 is always located in the movable groove 62, the inner wall of the body block 1 641 is in contact with and slidably connected to the inner wall of the movable groove 62, and the body block 2 642 extends to the outside of the finger segment 2 5 and is movably connected to the finger segment 2 5 up and down, so that the body block 2 642 is matched with the reserved fitting groove 65 in the rotating shaft body 2 7.

[0024] The pull rope 67 is in a "T" shape, and the pull rope 67 is composed of two nylon ropes. The rear end of the pull rope 67 is assembled into one rope, and the front end of the pull rope 67 is two ropes. The two ropes at the front end of the pull rope 67 are respectively passed through the wire groove 63 connected to the two movable grooves 62 and are fixedly connected to the ends of the two groups of sliders 64 movably connected to the two movable grooves 62, so as to facilitate the movement of the two groups of sliders 64 by moving the pull rope 67.

[0025] There are two springs 66 , and the two ends of the spring 66 are respectively fixedly connected to the outer wall of the body block 641 in the slider 64 and the inner wall of the movable groove 62 , so as to facilitate the movement and reset of the slider 64 .

[0026] Working principle: When using a robot finger structure, first match one end of the finger segment 2 provided with the plug-in interface 45 with the square groove 44 reserved in the rotating shaft body 3 (the end of the rotating shaft body 3 abuts against the finger segment 2), so that the square groove 44 and the plug-in interface 45 are connected, and then the lower end of the square rod 41 is plugged into the square groove 44 and the plug-in interface 45. At this time, the stud 42 fixedly connected to the lower end of the square rod 41 extends to the outer wall of the finger segment 2, and the threaded sleeve 43 is turned on the outer circle of the stud 42, so that the installation of the finger segment 2 and the finger base 1 is completed. At the same time, when the finger base 1 and the finger segment 2 need to be removed, the threaded sleeve 43 is also turned to separate the threaded sleeve 43 from the square rod 41, and then the square rod 41 is pulled out of the square groove 44 and the plug-in interface 45, so that the finger segment 2 and the finger base 1 can be separated; when the finger base 1 and the finger segment 2 are removed, the threaded sleeve 43 is turned to separate the threaded sleeve 43 from the square rod 41, and then the square rod 41 is pulled out of the square groove 44 and the plug-in interface 45, and the finger segment 2 and the finger base 1 can be separated; when the finger When the finger segment 1 2 and the finger segment 2 5 are installed, the pull block 68 is pulled outward, so that the pull block 68 drives the pull rope 67 to move and then pulls the slider 64 to move into the movable groove 62. At this time, the body block 2 642 in the slider 64 moves into the groove 61, and then the end of the finger segment 2 5 is matched with the embedded groove 65 reserved inside the rotating shaft body 2 7 (that is, it is ensured that the body block 2 642 matches the embedded groove 65 reserved in the rotating shaft body 2 7), and the pull block 68 is released. Under the return force of the spring 66, the body block 1 641 of the slider 64 moves to match the embedded groove 65, completing the installation of the finger segment 1 2 and the finger segment 2 5. When the finger segment 1 2 and the finger segment 2 5 are disassembled, the pull block 68 is pulled out to make the pull rope 67 move and then pull the slider 64 to move into the movable groove 62. At this time, the body block 2 642 in the slider 64 moves out of the embedded groove 65.

[0027] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot finger structure, comprising a finger base (1), characterized in that: The outer wall of the finger base (1) is fixedly connected to a connecting block (11), and a rotating shaft body (3) is rotatably connected to the end of the connecting block (11), and the connecting block (11) is rotatably connected to the finger segment (2) through the rotating shaft body (3), and the finger segment (2) is rotatably connected to the finger segment (5) through the rotating shaft body (7). The finger segment (2) and the finger segment (5) are rotatably connected through the rotating shaft body (7), and also include: an installation component (4), a square rod (41) is movably plugged into a square groove (44) reserved inside the rotating shaft body (3) and a plug-in interface (45) reserved in the end of the finger segment (2), and the square rod (41) is movably plugged into a square groove (44) reserved inside the rotating shaft body (3) and a plug-in interface (45) reserved in the end of the finger segment (2). The lower end of the rod (41) is fixedly connected to a stud (42), and the outer wall of the stud (42) is threadedly sleeved with a threaded sleeve (43); the second mounting assembly (6) is provided with a movable groove (62) in one end of the second finger segment (5), and a slider (64) is movably connected to the inside of the movable groove (62) through a spring (66) and a pull rope (67), a shift block (68) is fixedly connected to the outer end of the pull rope (67), and the end of the slider (64) matches the reserved fitting groove (65) in the second rotating shaft body (7) rotatably connected to the end of the first finger segment (2).

2. A robot finger structure according to claim 1, characterized in that: A circular top plate having a diameter greater than the side length of the square rod (41) is fixedly connected to the top of the square rod (41), and a stud (42) having a diameter less than the length of a line connecting the midpoints of two parallel sides of the square rod (41) is fixedly connected to the bottom of the square rod (41); the outer wall of the square rod (41) is in contact with and slidably connected to the inner wall of the square groove (44) and the inner wall of the insertion port (45).

3. A robot finger structure according to claim 1, characterized in that: The movable grooves (62) are provided with two in number, and the two movable grooves (62) are symmetrically arranged with reference to the transverse central axis of the second finger segment (5) as the symmetry axis, and the two movable grooves (62) are connected by a transverse, "T"-shaped wire groove (63), and the pull rope (67) moves in the reserved wire groove (63); grooves (61) are respectively provided at the upper and lower positions of the upper and lower movable grooves (62), and the grooves (61) are located at the top and bottom of the first finger segment (2), and the grooves (61) are not connected to the movable groove (62).

4. A robot finger structure according to claim 1, characterized in that: The slider (64) is composed of a body block 1 (641) and a body block 2 (642), and both the body block 1 (641) and the body block 2 (642) are square in shape, and the body block 1 (641) is always located in the movable groove (62), the inner wall of the body block 1 (641) is in contact with and slidably connected to the inner wall of the movable groove (62), and the body block 2 (642) extends to the outside of the finger segment 2 (5) and is movably connected to the finger segment 2 (5) up and down.

5. The robot finger structure according to claim 1, characterized in that: The pull rope (67) is in a "T" shape, and is composed of two strands of nylon rope. The rear end of the pull rope (67) is assembled into one strand, and the front end of the pull rope (67) is two strands. The two strands at the front end of the pull rope (67) pass through a wire groove (63) connected to the two movable grooves (62) and are fixedly connected to the ends of two groups of sliders (64) that are movably connected to the two movable grooves (62).

6. A robot finger structure according to claim 1, characterized in that: The springs (66) are provided in two numbers, and the two ends of the spring (66) are respectively fixedly connected to the outer wall of the body block 1 (641) in the slider (64) and the inner wall of the movable groove (62).

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