Movable finger of simulation human

Abstract

The utility model relates to a movable finger of a simulation person. Comprising a motor, a fixed part arranged on the motor, a movable part sliding in the fixed part, a lead screw driving the movable part to slide, a first knuckle rotationally connected to the fixed part, a second knuckle rotationally connected to the first knuckle, a third knuckle rotationally connected to the second knuckle and a first pull rod driving the first knuckle to bend. The second pull rod drives the second knuckles to bend; the third pull rod drives the third knuckles to bend; the screw rod is arranged at the driving end of the motor; one end of the first pull rod is rotationally connected to the moving part, and the other end of the first pull rod is rotationally connected to the first knuckle; one end of the second pull rod is rotationally connected to the first knuckle, and the other end of the second pull rod is rotationally connected to the second knuckle. The problems that the flexibility of the whole structure of a finger mechanism is not enough and a large number of steering engines are adopted are solved. Therefore, the cost is increased, and the fingers are heavy.

Description

Technical Field

[0001] The utility model relates to the field of movable fingers, in particular to a movable finger simulating a human. Background Art

[0002] In the prior art, with the widespread popularity of robots, more and more robots are applied to production and life, so the requirements for robots are getting higher and higher. In anthropomorphic robots, in order to cope with higher and higher requirements and adapt to various situations, there are also higher requirements for the overall freedom and stability of the robot. The finger mechanism is an important component to achieve high freedom and stable grasping.

[0003] The overall structure of the finger mechanism currently on the market is not flexible enough and uses a large number of servos, which increases the cost and makes the fingers look bulky. Utility Model Content

[0004] The embodiment of the present application provides a human-simulating movable finger, thereby solving the problem in the prior art that the overall structure of the finger mechanism is not flexible enough and a large number of servos are used, thereby increasing the cost and making the finger look bulky.

[0005] The technical solution adopted in the embodiments of the present application is as follows.

[0006] A movable finger that simulates a human being, comprising a motor, a fixing part arranged on the motor, a moving part sliding in the fixing part, a screw rod driving the moving part to slide, a first finger joint rotatably connected to the fixing part, a second finger joint rotatably connected to the first finger joint, a third finger joint rotatably connected to the second finger joint, a first pull rod driving the first finger joint to bend, a second pull rod driving the second finger joint to bend, and a third pull rod driving the third finger joint to bend; the screw rod is arranged at the driving end of the motor; one end of the first pull rod is rotatably connected to the moving part, and the other end of the first pull rod is rotatably connected to the first finger joint; one end of the second pull rod is rotatably connected to the first finger joint, and the other end of the second pull rod is rotatably connected to the second finger joint; one end of the third pull rod is rotatably connected to the second finger joint, and the other end of the third pull rod is rotatably connected to the third finger joint.

[0007] As a further improvement of the above technical solution: a sliding groove is provided on the fixing member; the moving member slides in the sliding groove; a sensor is provided in the sliding groove; and the sensor detects the position of the moving member.

[0008] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0009] 1. A fixing part is provided on the motor, the fixing part is fixedly connected to the motor but the fixing part does not move with the transmission shaft of the motor, a sliding groove is provided on the fixing part, a moving part is slidably connected in the sliding groove, a first pull rod is rotatably connected to the moving part, a first finger joint is rotatably connected to the fixing part, a second finger joint is rotatably connected to the first finger joint, and a third finger joint is rotatably connected to the second finger joint, one end of the first pull rod is rotatably connected to the moving part, and the other end of the first pull rod is rotatably connected to the first finger joint; one end of the second pull rod is rotatably connected to the first finger joint, and the other end of the second pull rod is rotatably connected to the second finger joint; one end of the third pull rod is rotatably connected to the second finger joint, and the other end of the third pull rod is rotatably connected to the third finger joint, a sensor is provided on the sliding groove, the sensor detects the position of the moving part, a screw rod is provided at the driving end of the motor, the screw rod is penetrated by the moving part, the motor drives the moving part to slide up and down, thereby driving the angle change of the first pull rod, the second pull rod and the third pull rod, so that the finger can be bent, thereby achieving a subtle volume and making the finger bend. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The utility model is a schematic diagram of the structure of the movable finger of the simulated human.

[0011] Figure 2 It is a cross-sectional view of the movable finger of the simulated human in the utility model.

[0012] Figure 3 It is a schematic diagram of the structure of the movable fingers of a simulated person stretched out in the utility model.

[0013] Figure 4 It is a schematic diagram of the structure of the bending of the movable fingers of a simulated human in the utility model.

[0014] In the figure: 1, motor; 2, screw rod; 3, sensor; 4, fixing part; 41, sliding groove; 5, first pull rod; 6, first finger joint; 7, second pull rod; 8, second finger joint; 9, third pull rod; 10, third finger joint; 11, moving part. DETAILED DESCRIPTION

[0015] The embodiment of the present application provides a human-simulating movable finger, thereby solving the problem in the prior art that the overall structure of the finger mechanism is not flexible enough and a large number of servos are used, thereby increasing the cost and making the finger look bulky.

[0016] The technical solution in the embodiment of the present application is to solve the above problems, and the overall idea is as follows

[0017] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] A movable finger simulating a human comprises a motor 1, a fixing part 4 arranged on the motor 1, a moving part 11 sliding in the fixing part 4, a screw rod 2 driving the moving part 11 to slide, a first finger joint 6 rotatably connected to the fixing part 4, a second finger joint 8 rotatably connected to the first finger joint 6, a third finger joint 10 rotatably connected to the second finger joint 8, a first pull rod 5 driving the first finger joint 6 to bend, a second pull rod 7 driving the second finger joint 8 to bend, and a third pull rod 9 driving the third finger joint 10 to bend; the screw rod 2 is arranged at the driving end of the motor 1; one end of the first pull rod 5 is rotatably connected to the moving part 11, and the other end of the first pull rod 5 is rotatably connected to the first finger joint 6; one end of the second pull rod 7 is rotatably connected to the first finger joint 6, and the other end of the second pull rod 7 is rotatably connected to the second finger joint 8; one end of the third pull rod 9 is rotatably connected to the second finger joint 8, and the other end of the third pull rod 9 is rotatably connected to the third finger joint 10.

[0019] The fixing member 4 is provided with a sliding groove 41 ; the moving member 11 slides in the sliding groove 41 ; a sensor 3 is arranged in the sliding groove 41 ; the sensor 3 detects the position of the moving member 11 .

[0020] The motor 1 is provided with a fixing part 4, which is fixedly connected to the motor 1 but does not move with the transmission shaft of the motor 1, a sliding groove 41 is provided on the fixing part 4, a moving part 11 is slidably connected in the sliding groove 41, a first pull rod 5 is rotatably connected to the moving part 11, a first finger joint 6 is rotatably connected to the fixing part 4, a second finger joint 8 is rotatably connected to the first finger joint 6, a third finger joint 10 is rotatably connected to the second finger joint 8, one end of the first pull rod 5 is rotatably connected to the moving part 11, and the other end of the first pull rod 5 is rotatably connected to the first finger joint 6; One end of the pull rod 7 is rotatably connected to the first finger joint 6, and the other end of the second pull rod 7 is rotatably connected to the second finger joint 8; one end of the third pull rod 9 is rotatably connected to the second finger joint 8, and the other end of the third pull rod 9 is rotatably connected to the third finger joint 10. A sensor 3 is provided on the sliding groove 41, and the sensor 3 detects the position of the moving part 11. The driving end of the motor 1 is provided with a screw rod 2, and the screw rod 2 is passed through the moving part 11. The motor 1 drives the moving part 11 to slide up and down, thereby driving the angle of the first pull rod 5, the second pull rod 7 and the third pull rod 9 to change, so that the fingers can bend.

[0021] Since the motor 1 is provided with a fixing member 4, the fixing member 4 is fixedly connected to the motor 1 but the fixing member 4 does not move with the transmission shaft of the motor 1, the fixing member 4 is provided with a sliding groove 41, the sliding groove 41 is slidably connected with a moving member 11, the moving member 11 is rotatably connected with a first pull rod 5, the fixing member 4 is rotatably connected with a first finger joint 6, the first finger joint 6 is rotatably connected with a second finger joint 8, the second finger joint 8 is rotatably connected with a third finger joint 10, one end of the first pull rod 5 is rotatably connected to the moving member 11, and the other end of the first pull rod 5 is rotatably connected to the first finger joint 6; one end of the second pull rod 7 It is rotatably connected to the first finger joint 6, and the other end of the second pull rod 7 is rotatably connected to the second finger joint 8; one end of the third pull rod 9 is rotatably connected to the second finger joint 8, and the other end of the third pull rod 9 is rotatably connected to the third finger joint 10. A sensor 3 is provided on the sliding groove 41, and the sensor 3 detects the position of the moving part 11. The driving end of the motor 1 is provided with a screw rod 2, and the screw rod 2 is passed through the moving part 11. The motor 1 drives the moving part 11 to slide up and down, thereby driving the first pull rod 5, the second pull rod 7 and the third pull rod 9 to change the angle, so that the fingers can bend, thereby achieving a subtle volume and allowing the fingers to bend.

[0022] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0023] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A movable finger simulating a human being, characterized in that: The invention comprises a motor (1), a fixing member (4) arranged on the motor (1), a moving member (11) sliding in the fixing member (4), a screw rod (2) driving the moving member (11) to slide, a first finger joint (6) rotatably connected to the fixing member (4), a second finger joint (8) rotatably connected to the first finger joint (6), a third finger joint (10) rotatably connected to the second finger joint (8), a first pull rod (5) driving the first finger joint (6) to bend, a second pull rod (7) driving the second finger joint (8) to bend, and a third pull rod (8) driving the third finger joint (10) to bend. Three pull rods (9); the screw rod (2) is arranged at the driving end of the motor (1); one end of the first pull rod (5) is rotatably connected to the moving part (11), and the other end of the first pull rod (5) is rotatably connected to the first finger joint (6); one end of the second pull rod (7) is rotatably connected to the first finger joint (6), and the other end of the second pull rod (7) is rotatably connected to the second finger joint (8); one end of the third pull rod (9) is rotatably connected to the second finger joint (8), and the other end of the third pull rod (9) is rotatably connected to the third finger joint (10).

2. The movable finger of a simulated human as claimed in claim 1, characterized in that: The fixed member (4) is provided with a sliding groove (41); the movable member (11) slides in the sliding groove (41); a sensor (3) is arranged in the sliding groove (41); the sensor (3) detects the position of the movable member (11).

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