Bendable three-finger manipulator

Abstract

The utility model relates to a bendable three-finger manipulator, which belongs to the technical field of manipulators, and comprises a mounting seat, a plurality of finger components are arranged outside the mounting seat, the number of the finger components is three, and the three finger components are uniformly arranged in the circumferential direction of the mounting seat. Each finger assembly comprises a swing arm hinged to the outer portion of the installation base and of a bent structure, a mechanical finger installed at the bottom end of the swing arm and an air bag installed on one side of the mechanical finger, and the contact faces of the multiple air bags are each provided with an anti-skid layer. The situation that articles are damaged due to too large clamping force is reduced, the situation that the articles cannot be clamped due to small clamping force is reduced, and therefore people can use the clamping device more conveniently.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, concretely relates to a bendable three-finger mechanical hand. BACKGROUND

[0002] Mechanical hand is a kind of automatic operation device that can imitate the action function of human hand and arm to grasp, carry object or operate tool according to fixed program.The feature is that it can complete various expected work by programming, and it has the advantages of both human and mechanical hand.

[0003] The existing three-finger mechanical hand is generally driven by motor or pneumatic cylinder to move finger to realize the clamping and fixing of object during use, but it is difficult to effectively control the clamping force during use, and the clamping force is too large or too small, when the clamping force is too large, the object will be damaged, when the clamping force is too small, the object will be difficult to clamp, so it is inconvenient for people to use. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a bendable three-finger mechanical hand with simple structure and reasonable design to solve the above problems.

[0005] The utility model realizes the above-mentioned purposes by the following technical schemes:

[0006] A bendable three-finger mechanical hand, including mounting seat, the outside of mounting seat is provided with a plurality of finger assemblies, the bottom of mounting seat is installed with the moving mechanism that drives a plurality of finger assemblies to move, the finger assembly includes the swing arm that is hinged at the outside of mounting seat and presents the bending structure, the mechanical finger that is installed at the bottom end of swing arm, and the air bag that is installed at one side of mechanical finger, the side that is away from air bag of a plurality of mechanical fingers is installed with the installation cylinder that extends to air bag, the side of installation cylinder is provided with the air inlet hole that is communicated with air bag, the inside of installation cylinder is equipped with buffer mechanism, the side of one installation cylinder is installed with fixed frame, the side inner wall of fixed frame is installed with the pressure sensor that is used in conjunction with buffer mechanism.

[0007] As a further optimization scheme of the utility model, the moving mechanism includes the moving block at the bottom of mounting seat, and a plurality of connecting rods are hinged at the outside of moving block, and one end of a plurality of connecting rods is rotatably connected with the bending part of a plurality of swing arms.

[0008] As a further optimization scheme of the utility model, the top of mounting seat is installed with mounting bracket, the top inner wall of mounting bracket is installed with pneumatic cylinder, the output end of pneumatic cylinder is installed with moving rod, and the bottom end of moving rod extends to the bottom of mounting seat and is fixedly connected with the top end of moving block.

[0009] As a further optimization scheme of the utility model, the contact surface of the plurality of air bags is provided with an anti-skid layer.

[0010] As a further optimization scheme of the utility model, the buffer mechanism comprises a piston sleeved in the mounting cylinder, a push rod mounted on one side of the piston and extending to the outside of the mounting cylinder, and a spring sleeved outside the push rod, both ends of the spring are fixedly connected with one side of the piston and the inner wall of the mounting cylinder, and one end of the push rod located outside the mounting cylinder is provided with a push block, and one of the push blocks is arranged corresponding to the pressure sensor.

[0011] As a further optimization scheme of the utility model, the finger assembly is three, and the three finger assemblies are uniformly arranged around the circumference of the mounting seat.

[0012] The utility model discloses the beneficial effect lies in: the utility model discloses the process of using, can control the intensity of mechanical finger clamping, not only reduces the situation that the article appears damage due to the clamping force being too big, and reduces the situation that the object cannot be clamped due to the clamping force being too small, so that people are more convenient to use. BRIEF DESCRIPTION OF DRAWINGS

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

[0014] Figure 2 It is the second three-dimensional structure schematic diagram of the utility model;

[0015] Figure 3 It is the section structure schematic diagram of the utility model;

[0016] Figure 4 It is the utility model Figure 3 A place enlarged view in the utility model;

[0017] In the drawing: 1, mounting seat;2, mounting frame;3, pneumatic cylinder;4, moving rod;5, moving block;6, swing arm;7, connecting rod;8, mechanical finger;9, air bag;10, mounting cylinder;11, piston;12, push rod;13, push block;14, fixed frame;15, pressure sensor;16, air inlet;17, spring. DETAILED DESCRIPTION

[0018] The following further describes the present application in detail with reference to the drawings, and it is necessary to point out here that the following detailed description is only used to further illustrate the present application, and cannot be understood as limiting the protection scope of the present application, and the skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0019] For example, Figures 1-4As shown, a flexible three-fingered mechanical hand, comprising a mounting seat 1, the outside of the mounting seat 1 is provided with a plurality of finger assemblies, the finger assemblies are three, the three finger assemblies are uniformly arranged around the circumference of the mounting seat 1, the finger assembly comprises a swing arm 6 hinged outside the mounting seat 1 and in a bent structure, a mechanical finger 8 installed at the bottom end of the swing arm 6, and a gas bag 9 installed on one side of the mechanical finger 8, the contact surface of the plurality of gas bags 9 is provided with an anti-skid layer, the friction of the finger surface contact is increased by the provided anti-skid layer, the target is not easy to fall off when grabbing, when clamping the object, the gas bag 9 will contact the object, thereby reducing the damage to the object caused by the hard finger contacting the object, the bottom of the mounting seat 1 is provided with a moving block 5, the outside of the moving block 5 is rotatably connected with a plurality of connecting rods 7, one end of the plurality of connecting rods 7 is rotatably connected with the bent part of the plurality of swing arms 6, the top of the mounting seat 1 is provided with a mounting rack 2, the top inner wall of the mounting rack 2 is provided with a pneumatic cylinder 3, the output end of the pneumatic cylinder 3 is provided with a moving rod 4, the bottom end of the moving rod 4 extends to the bottom of the mounting seat 1 and is fixedly connected with the top end of the moving block 5, when in use, since the moving rod 4 can move up and down, and the length of the connecting rod 7 is constant, when the connecting rod 7 is moved by the moving rod 4, the bending degree of the plurality of swing rods 6 can be adjusted, thereby the distance between the plurality of mechanical fingers 8 can be adjusted, thereby the demand for clamping different size circular objects can be met, the universality of the mechanical hand in use is improved, the side away from the gas bag 9 of the plurality of mechanical fingers 8 is provided with a mounting cylinder 10 extending into the gas bag 9, one side of the mounting cylinder 10 is provided with a gas inlet hole 16 communicating with the gas bag 9, the inside of the mounting cylinder 10 is provided with a buffer mechanism, wherein the buffer mechanism comprises a piston 11 sleeved in the mounting cylinder 10, a push rod 12 installed on one side of the piston 11 and extending to the outside of the mounting cylinder 10, and a spring 17 sleeved outside the push rod 12, both ends of the spring 17 are fixedly connected with one side of the piston 11 and the inner wall of the mounting cylinder 10, one end of the push rod 12 located outside the mounting cylinder 10 is provided with a push block 13, one side of one of the mounting cylinders 10 is provided with a fixed frame 14, one side inner wall of the fixed frame 14 is provided with a pressure sensor 15 used in cooperation with the buffer mechanism, one of the push blocks 13 is arranged corresponding to the pressure sensor 15.

[0020] The application discloses a bendable three-fingered mechanical hand, when the object needs to be clamped, the air cylinder 3 drives the moving rod 4 to move, under the drive of the moving rod 4, the plurality of connecting rods 7 drive the swing rod 6 to move, so that the plurality of mechanical fingers 8 simultaneously move to the side close to the object, when the object contacts the air bag 9, under the action of the pressure, the gas in the air bag 9 enters the inside of the installation cylinder 10 through the air inlet hole 16, under the action of the gas pressure, the piston 11 pushes the push rod 12 to move in the inside of the installation cylinder 10, the spring 17 is elastically deformed, when the push rod 12 moves, the push block 13 is driven to move, when one of the push block 13 contacts the pressure sensor 15, the pressure sensor 15 senses the pressure pushed by the push block 13, when the pressure reaches the set value, the pressure sensor 15 transmits the information into the controller, the controller controls the air cylinder 3 to stop moving, so that the clamping force of the mechanical finger 8 can be controlled in the process of use, and the situation that the clamping force is too large or too small is reduced.

[0021] The above-mentioned embodiments only express several implementation manners of the application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the application. It should be pointed out that, for the ordinary skilled in the art, under the premise of not departing from the application concept, a plurality of modifications and improvements can be made, which all belong to the protection scope of the application.

Claims

1. A bendable three-fingered hand comprising a mounting base (1), characterized in that, The exterior of the mounting base (1) is provided with a plurality of finger assemblies, the bottom of the mounting base (1) is provided with a moving mechanism for driving the plurality of finger assemblies to move, the finger assembly comprises a swing arm (6) hinged to the exterior of the mounting base (1) and in a bent structure, a mechanical finger (8) mounted at the bottom end of the swing arm (6), and an air bag (9) mounted on one side of the mechanical finger (8), a mounting cylinder (10) extending into the air bag (9) is mounted on the side of each of the plurality of mechanical fingers (8) away from the air bag (9), a gas inlet hole (16) in communication with the air bag (9) is formed on one side of the mounting cylinder (10), a buffer mechanism is arranged in the mounting cylinder (10), one side of one of the mounting cylinders (10) is provided with a fixed frame (14), and a pressure sensor (15) used in cooperation with the buffer mechanism is mounted on the inner wall of one side of the fixed frame (14).

2. The bendable three-fingered hand of claim 1, wherein: The moving mechanism comprises a moving block (5) at the bottom of the mounting base (1) and a plurality of connecting rods (7) hinged to the exterior of the moving block (5), one end of each of the connecting rods (7) is rotationally connected with the bent part of each of the swing arms (6).

3. The bendable three-fingered hand of claim 2, wherein: A mounting rack (2) is mounted on the top of the mounting base (1), a pneumatic cylinder (3) is mounted on the top inner wall of the mounting rack (2), a moving rod (4) is mounted on the output end of the pneumatic cylinder (3), and the bottom end of the moving rod (4) extends to the bottom of the mounting base (1) and is fixedly connected with the top end of the moving block (5).

4. The bendable three-fingered hand of claim 1, wherein: The contact surface of each of the air bags (9) is provided with an anti-skid layer.

5. The bendable three-fingered hand of claim 1, wherein: The buffer mechanism comprises a piston (11) sleeved in the mounting cylinder (10), a push rod (12) mounted on one side of the piston (11) and extending to the exterior of the mounting cylinder (10), and a spring (17) sleeved on the exterior of the push rod (12), both ends of the spring (17) are fixedly connected with one side of the piston (11) and the inner wall of the mounting cylinder (10), respectively, one end of the push rod (12) located on the exterior of the mounting cylinder (10) is provided with a push block (13), and one of the push blocks (13) is arranged in correspondence with the pressure sensor (15).

6. The bendable three-fingered hand of claim 1, wherein: The finger assembly is three, and the three finger assemblies are uniformly arranged around the circumference of the mounting base (1).

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