Adjusting structure of robot fingers

Abstract

The utility model discloses an adjusting structure of a robot finger, which comprises a finger mounting seat, a finger main body and a spring, the finger main body consists of a rigid finger and a flexible finger, the rigid finger and the flexible finger are oppositely arranged, a connecting shaft is fixed at the central position of the top of the finger main body, a thread is arranged at the top of the connecting shaft, and the spring is arranged on the connecting shaft. The two sides of the connecting shaft are each provided with a positioning protrusion, the positioning protrusions are fixed to the finger body, the two sides of the top of the finger mounting base are each fixedly provided with a connecting lug, and a through hole matched with the connecting shaft is formed in the center of the finger mounting base. The two sides of the through hole are each provided with a positioning hole matched with the corresponding positioning protrusion. The finger body is composed of the rigid finger body and the flexible finger body, the rigid finger body and the flexible finger body can be replaced in a rotating mode, and the replacement mode is simpler and more convenient.

Description

Technical Field

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

[0002] Manipulators are generally applied in industrial production, and functional components are assembled through the manipulators to realize the use of the functional components in different scenarios. In the prior art, the fingers of the manipulator are mainly divided into flexible fingers and rigid fingers, which need to be replaced according to different use scenarios. However, the existing mechanical fingers have the problem that the replacement is not convenient enough and need to be improved. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an adjusting structure of a robot finger to solve the problems in the prior art.

[0004] To achieve the above purpose, the utility model provides the following technical solution: an adjusting structure of a robot finger, including a finger mounting seat, a finger body and a spring. The finger body is composed of a rigid finger and a flexible finger, the rigid finger and the flexible finger are arranged opposite to each other. A connecting shaft is fixed at the central position of the top of the finger body, and a thread is provided at the top of the connecting shaft. A positioning protrusion is arranged on each side of the connecting shaft, and the positioning protrusions are fixed on the finger body. A connecting ear is fixed on each side of the top of the finger mounting seat. A through hole matching with the connecting shaft is opened at the central position of the finger mounting seat. A positioning hole matching with the positioning protrusion is arranged on each side of the through hole. The finger body is mounted at the bottom of the finger mounting seat. The spring is sleeved on the connecting shaft and fixed by a nut.

[0005] Preferably, a slider is fixed on the side surface of the flexible finger, a threaded hole is arranged on the upper part of the surface of the slider, a sliding groove matching with the slider is arranged on the side surface of the rigid finger, connecting seats are arranged on the upper and lower parts of the sliding groove, and a small hole matching with the threaded hole is arranged on the connecting seat. The flexible finger is connected and fixed with the rigid finger by a screw.

[0006] Preferably, the length of the flexible finger is shorter than that of the rigid finger.

[0007] Preferably, the connecting shaft, the positioning protrusions and the rigid finger are of an integral structure.

[0008] Compared with the prior art, the beneficial effects of the present utility model are as follows: The finger body of the present utility model is composed of a rigid finger and a flexible finger, and the finger body can replace the rigid finger and the flexible finger by rotation, and the replacement method is simpler and more convenient. When replacement is needed, first pull the finger body downward to disengage the positioning protrusion from the positioning hole, then rotate the finger body 180°, and then reinsert the positioning protrusion into the positioning hole;

[0009] The spring sleeved on the connecting shaft can keep the finger body in close fit with the finger mounting seat, so that the positioning protrusion remains inserted into the positioning hole, thereby ensuring that the finger body will not rotate self - clockwise;

[0010] To avoid mutual interference between the bottom of the flexible finger and the bottom of the rigid finger, the flexible finger is slidably connected to the rigid finger, and the length of the flexible finger is shorter than that of the rigid finger. When the flexible finger moves upward to the highest position, the bottom of the rigid finger protrudes from the flexible finger, and at the same time, when the flexible finger moves downward to the lowest position, the bottom of the flexible finger protrudes from the rigid finger. By the above method, mutual interference between the flexible finger and the rigid finger can be avoided, and the flexible finger can be fixed by screws after adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings are used to provide further understanding of the present utility model and constitute a part of the specification. They are used together with the embodiments of the present utility model to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:

[0012] Figure 1 is the overall structural schematic diagram of the present utility model;

[0013] Figure 2 is the structural schematic diagram of the finger body of the present utility model;

[0014] Figure 3 is the structural schematic diagram of the finger mounting seat of the present utility model;

[0015] Figure 4 is the structural schematic diagram of the rigid finger of the present utility model;

[0016] Figure 5 is the structural schematic diagram of the flexible finger of the present utility model.

[0017] In the figure: 1, finger mounting seat; 2, finger body; 3, spring; 4, nut; 5, screw; 6, connecting ear; 7, through - hole; 8, positioning hole; 9, rigid finger; 10, flexible finger; 11, slider; 12, positioning protrusion; 13, connecting shaft; 14, chute; 15, connecting seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model. Therefore, the detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model claimed, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0019] Please refer to Figures 1-5 In an embodiment of the present utility model, an adjustment structure of a robot finger includes a finger mounting base 1, a finger body 2 and a spring 3. The finger body 2 is composed of a rigid finger 9 and a flexible finger 10. The rigid finger 9 and the flexible finger 10 are arranged opposite to each other. A connecting shaft 13 is fixed at the central position of the top of the finger body 2, and a thread is provided at the top of the connecting shaft 13. A positioning protrusion 12 is provided on each side of the connecting shaft 13, and the positioning protrusion 12 is fixed on the finger body 2. A connecting ear 6 is fixed on each side of the top of the finger mounting base 1. A through hole 7 matching with the connecting shaft 13 is provided at the central position of the finger mounting base 1. A positioning hole 8 matching with the positioning protrusion 12 is provided on each side of the through hole 7. The finger body 2 is installed at the bottom of the finger mounting base 1. The spring 3 is sleeved on the connecting shaft 13 and fixed by a nut 4.

[0020] A slider 11 is fixed on the side surface of the flexible finger 10. A threaded hole is provided at the upper part of the surface of the slider 11. A sliding groove 14 matching with the slider 11 is provided on the side surface of the rigid finger 9. Connecting seats 15 are provided at the upper and lower parts of the sliding groove 14. A small hole matching with the threaded hole is provided on the connecting seat 15. The flexible finger 10 is connected and fixed to the rigid finger 9 by a screw 5. The length of the flexible finger 10 is shorter than that of the rigid finger 9. The connecting shaft 13, the positioning protrusion 12 and the rigid finger 9 are of an integral structure.

[0021] The working principle of the present utility model is as follows: The finger body 2 of the present utility model is composed of a rigid finger 9 and a flexible finger 10, and the finger body 2 can be replaced by rotating the rigid finger 9 and the flexible finger 10, and the replacement method is simpler and more convenient. When replacement is needed, first pull the finger body 2 downward to disengage the positioning protrusion 12 from the positioning hole 8, then rotate the finger body 2 by 180°, and then insert the positioning protrusion 12 into the positioning hole 8 again.

[0022] The spring 3 sleeved on the connecting shaft 13 can keep the finger body 2 in close fit with the finger mounting seat 1, so that the positioning protrusion 12 remains inserted into the positioning hole 8, thereby ensuring that the finger body 2 will not rotate on its own;

[0023] To avoid mutual interference between the bottom of the flexible finger 10 and the bottom of the rigid finger 9, the flexible finger 10 is slidably connected to the rigid finger 9, and the length of the flexible finger 10 is shorter than that of the rigid finger 9, so that when the flexible finger 10 moves upward to the highest position, the bottom of the rigid finger 9 protrudes from the flexible finger 10, and at the same time when the flexible finger 10 moves downward to the lowest position, the bottom of the flexible finger 10 protrudes from the rigid finger 9. By the above method, the mutual interference between the flexible finger 10 and the rigid finger 9 can be avoided, and the flexible finger 10 can be fixed by the screw 5 after the adjustment is completed.

[0024] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An adjustment structure for a robot finger, characterized in that: The finger mounting seat (1) comprises a finger mounting seat (1), a finger body (2) and a spring (3). The finger body (2) comprises a rigid finger (9) and a flexible finger (10). The rigid finger (9) and the flexible finger (10) are arranged opposite to each other. A connecting shaft (13) is fixed at the center position of the top of the finger body (2), and the top of the connecting shaft (13) is provided with a thread. A positioning protrusion (12) is respectively provided on both sides of the connecting shaft (13). The positioning protrusion (12) is fixed on the finger body (2). A connecting ear (6) is respectively fixed on both sides of the top of the finger mounting seat (1). A through hole (7) cooperating with the connecting shaft (13) is opened at the center position of the finger mounting seat (1). A positioning hole (8) cooperating with the positioning protrusion (12) is respectively provided on both sides of the through hole (7). The finger body (2) is mounted on the bottom of the finger mounting seat (1). The spring (3) is sleeved on the connecting shaft (13) and fixed by a nut (4).

2. The adjustment structure of a robot finger according to claim 1, characterized in that: A slider (11) is fixed on the side of the flexible finger (10), and a threaded hole is provided on the upper surface of the slider (11). A slide groove (14) matching with the slider (11) is provided on the side of the rigid finger (9), and a connecting seat (15) is provided at the upper and lower parts of the slide groove (14). A small hole matching with the threaded hole is provided on the connecting seat (15), and the flexible finger (10) is connected and fixed to the rigid finger (9) by a screw (5).

3. The adjustment structure of a robot finger according to claim 2, characterized in that: The length of the flexible fingers (10) is shorter than the length of the rigid fingers (9).

4. The adjustment structure of a robot finger according to claim 1, characterized in that: The connecting shaft (13), the positioning protrusion (12) and the rigid finger (9) are an integrated structure.

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