Robot dexterous hand based on multi-directional adjusting type rotary shooting bracelet

Abstract

The utility model belongs to the technical field of rotary adjusting shooting structures, and particularly discloses a robot dexterous hand based on a multidirectional adjusting type rotary shooting bracelet, which is used for solving the problem that a robot hand does not have multiple shooting and recording functions of radial and axial adjustment of a shooting and recording range. Comprising a manipulator body, a main rod seat and an auxiliary rod seat, on one hand, the rotating seat and the deflection seat are combined to jointly form a multi-directional adjusting rotating structure, so that the shooting assembly can complete axial rotating shooting and can also complete radial multi-directional shooting at the same time; on the other hand, smooth proceeding of axial rotation and radial rotation is achieved through the additionally-arranged rotary supporting structure, and it is ensured that the shooting assembly completes real-time shooting while carrying out robot arm operation; and the two are combined to achieve the purpose of multi-directional adjustable rotary shooting of the robot arm.

Description

TECHNICAL FIELD

[0001] The utility model relates to rotating adjustment shooting structure technical field especially relates to the robot dexterous hand based on multi -directional regulation formula rotation shooting bracelet. BACKGROUND

[0002] Mechanical hand is a kind of can imitate the action function of human hand and arm, to grab, carry object or operate tool by fixed program, automatic operation device, it has the respective advantages of human and mechanical hand machine in structure and performance, and can complete various expected work by programming. Based on simulation mechanical hand, simulation state mechanical hand carries out automatic operation and has been applied in production and life on a large scale, and real-time recording and photographing are needed, to control the running state and operation accuracy of mechanical hand more accurately.

[0003] In prior art, during the operation control of mechanical hand, only the camera that can rotate axially is used to complete the recording of current running state and operation action, so that the recording of running state and operation action is limited to the axial rotation range in recording direction, and does not have the multiple recording function of radial + axial adjustment around mechanical hand. In view of the above technical defects, a solution is proposed. SUMMARY

[0004] The utility model discloses a kind of robot dexterous hand based on multi -directional regulation formula rotation shooting bracelet, to solve the problem that mechanical hand does not have the multiple recording function of radial and axial adjustment of recording range.

[0005] The utility model discloses a kind of robot dexterous hand based on multi -directional regulation formula rotation shooting bracelet, to solve the problem that mechanical hand does not have the multiple recording function of radial and axial adjustment of recording range.

[0006] Preferably, motor one is installed in the inside of the main rod seat, and the output end of the motor one is connected with the inner machine box.

[0007] Preferably, motor two is installed in the inside of the inner machine box transversely, the output end of the motor two is connected with the block, and the middle part of the deflection seat is installed with follow-up ring matched with the block.

[0008] Preferably, the rotating seat is provided with bearings and rotating rings at both ends, the bearings are arranged in the rotating rings, and a pair of the rotating rings are fixedly connected with the main rod seat and the auxiliary rod seat respectively at the ends away from the rotating seat.

[0009] Preferably, the rotating seat is provided with a fixing rod corresponding to the outer ring side of the inner machine box, both ends of the fixing rod are fixedly connected with the main rod seat and the auxiliary rod seat respectively, and the rotating seat is not in contact with the fixing rod when rotating axially.

[0010] Preferably, a mounting plate is vertically arranged inside the rear side of the main rod seat, the motor is fixed to the inner side of the mounting plate and the output end faces the inner side.

[0011] The utility model discloses beneficial effect:

[0012] The utility model discloses a rotating structure design of multi -directional adjustment based on the arm of machine hand, adopts rotating seat and deflection seat to combine and constitute the rotating structure of multi -directional adjustment together, thereby make the multi -directional shooting of axial rotation shooting of shooting component complete simultaneously can also complete in radial direction.

[0013] The multi -directional adjustment type rotating shooting process: adopt motor no. 2 to drive rotating seat to complete axial rotation, the camera main body and shooting lens outside rotating seat complete axial rotation shooting together, in the process of axial rotation shooting, motor no. 2 starts and drives follow -up ring through the shift block and rotates, and then makes the camera main body and shooting lens on the deflection rod complete radial rotation shooting, and completes the multi -directional rotation shooting of shooting component based on machine hand in the combined state of two.

[0014] In the utility model, the smooth performance of axial rotation and radial rotation is realized through the rotating support structure, specifically: the rotating support structure comprises bearings and rotating rings, wherein the rotating seat rotates through the bearings, and the rotating rings are rotationally connected with the main rod seat and the auxiliary rod seat respectively, thereby ensuring that the rotating seat can stably rotate during axial rotation and radial rotation, and the shooting component outside the rotating seat completes multi -directional adjustment type rotating shooting combined with axial and radial directions. BRIEF DESCRIPTION OF DRAWINGS

[0015] The utility model will be further explained in connection with the drawings;

[0016] Figure 1 It is the overall structure perspective drawing of the utility model;

[0017] Figure 2 It is the rear view overall structure schematic view of the utility model;

[0018] Figure 3 It is the structure explosion drawing of the utility model;

[0019] Figure 4 is a side view of the axial rotation assembly of the utility model;

[0020] Figure 5 is a side view of the radial rotation assembly of the utility model;

[0021] Figure 6 is a structure diagram of the radial rotation assembly of the utility model;

[0022] Figure 7 is a structure diagram of the rotation seat of the utility model.

[0023] Figure legend: 1, machine hand main body; 2, vice lever seat; 3, main lever seat; 4, camera main body; 5, shooting lens; 6, rotation seat; 7, deflection seat; 8, deflection lever; 9, mounting plate; 10, push block; 11, follow-up ring; 12, bearing; 13, rotating ring; 14, inner machine box; 15, fixed lever; 16, motor one; 17, motor two. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0025] Embodiment one: the embodiment is used to solve the problem that the machine hand does not have the multiple recording function of radial and axial adjustment of the recording range.

[0026] Please refer to Figure 1 - Figure 7 The embodiment is a multi-directional adjustment type rotating shooting hand ring robot dexterous hand, including a machine hand main body 1 and a main lever seat 3 and a vice lever seat 2 arranged at the end of the machine hand main body 1, an axial rotation assembly is rotationally arranged between the vice lever seat 2 and the main lever seat 3; the axial rotation assembly includes a rotation seat 6, an inner machine box 14 is inserted into the rotation seat 6, and radial rotation assemblies are installed at both ends of the rotation seat 6; the radial rotation assembly includes a deflection seat 7 rotationally connected with the outer side of the rotation seat 6, a deflection lever 8 is commonly connected between the upper ends of a pair of deflection seats 7, a camera main body 4 is installed at the upper end of the deflection lever 8, and a shooting lens 5 is installed on the camera main body 4, wherein the camera main body 4 and the shooting lens 5 form a shooting assembly, that is, the shooting hand ring in the application is a recording structure applied to the machine hand working scene and having a real-time shooting function;

[0027] The main support 3 houses a motor 16, the output of which is connected to the inner housing 14. The inner housing 14 houses a second motor 17, the output of which is connected to a lever 10. The deflection base 7 has a follower ring 11 that matches the lever 10. When the second motor 17 is running, it can rotate through the meshing structure of the lever 10 and the follower ring 11, which in turn drives the deflection rod 8 to rotate, thus enabling the camera body 4 and the shooting lens 5 to rotate together.

[0028] Basic principles: Please refer to Figure 1 - Figure 7 As shown, in actual use, this utility model is based on the multi-directional adjustment rotation structure design of the shooting component of the robotic arm. The rotating seat 6 and the deflection seat 7 are combined to form a multi-directional adjustment rotation structure, so that the shooting component can complete axial rotation shooting while also completing multi-directional shooting in the radial direction. Specifically, motor 16 drives the rotating seat 6 to complete axial rotation, and the camera body 4 and the shooting lens 5 located outside the rotating seat 6 jointly complete axial rotation shooting. During the axial rotation shooting process, motor 217 is started and drives the follower ring 11 to rotate through the toggle block 10, thereby enabling the camera body 4 and the shooting lens 5 located on the deflection rod 8 to complete radial rotation shooting. The combination of the two completes the multi-directional rotation shooting purpose based on the shooting component of the robotic arm.

[0029] Example 2: This example is based on Example 1 and is used to solve the problem of how to keep the shooting component stable during multi-directional shooting.

[0030] Please see Figure 1 , Figure 3 - Figure 7 As shown, the robot dexterous hand based on the multi-directional adjustable rotating shooting wristband in this embodiment includes: bearings 12 and rotating rings 13 installed at both ends of the rotating base 6. The bearings 12 are disposed inside the rotating rings 13, and the ends of the pair of rotating rings 13 away from the rotating base 6 are fixedly connected to the main rod base 3 and the auxiliary rod base 2, respectively. A fixing rod 15 is installed on the outer ring side of the rotating base 6 corresponding to the inner casing 14. The two ends of the fixing rod 15 are fixedly connected to the main rod base 3 and the auxiliary rod base 2, respectively. The rotating base 6 does not contact the fixing rod 15 when rotating axially.

[0031] A mounting plate 9 is vertically installed inside the rear side of the main rod seat 3. The motor 16 is fixed to the inside of the mounting plate 9 with its output end facing inward.

[0032] Please see Figure 3 - Figure 7As shown, the embodiment is based on embodiment one, and the smooth axial rotation and radial rotation are realized through the added rotating support structure, specifically: the rotating support structure comprises a bearing 12 and a rotating ring 13, wherein the rotation of the rotating seat 6 is realized through the bearing 12, and the rotating ring 13 is arranged to rotatably connect the rotating seat 6 with the main rod seat 3 and the auxiliary rod seat 2 respectively, thereby ensuring that the rotating seat 6 can realize stable rotation during axial rotation and radial rotation, and the shooting assembly outside the rotating seat 6 can complete multi-directional adjustment type rotation shooting combined with axial and radial directions.

[0033] In combination with embodiment one and embodiment two, on the one hand, the rotating seat 6 and the deflection seat 7 are combined to form a multi-directional adjustment type rotating structure, so that the shooting assembly can complete axial rotation shooting and multi-directional radial shooting at the same time; on the other hand, the smooth axial rotation and radial rotation are realized through the added rotating support structure, thereby ensuring that the shooting assembly can complete real-time shooting while being operated by the robot hand; in summary: the utility model can satisfy the multi-directional adjustment type rotation shooting of the robot hand.

[0034] The above content is only an example and description of the structure of the utility model, and those skilled in the art can make various modifications or supplements or adopt similar ways to replace the described specific embodiments, as long as the modifications or supplements or replacements do not deviate from the structure of the utility model or exceed the range defined by the claims, and all of the above should belong to the protection range of the utility model.

Claims

1. A robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband, comprising a robotic hand body (1) and a main rod seat (3) and a secondary rod seat (2) spaced apart at the end of the robotic hand body (1), characterized in that, An axial rotation assembly is rotatably provided between the auxiliary rod seat (2) and the main rod seat (3); the axial rotation assembly includes a rotating seat (6), an inner casing (14) is inserted inside the rotating seat (6), and radial rotation assemblies are installed at both ends of the rotating seat (6); the radial rotation assembly includes a deflection seat (7) rotatably connected to the outside of the rotating seat (6), a deflection rod (8) is connected between the upper ends of a pair of deflection seats (7), a camera body (4) is installed at the upper end of the deflection rod (8), and a shooting lens (5) is installed on the camera body (4).

2. The robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband according to claim 1, characterized in that, The main rod seat (3) is equipped with a motor (16), and the output end of the motor (16) is connected to the inner casing (14).

3. The robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband according to claim 2, characterized in that, The inner casing (14) has a second motor (17) installed horizontally inside. The output end of the second motor (17) is connected to a lever (10), and a follower ring (11) matching the lever (10) is installed in the middle of the deflection seat (7).

4. The robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband according to claim 1, characterized in that, The rotating seat (6) is equipped with bearings (12) and rotating rings (13) at both ends. The bearings (12) are located inside the rotating rings (13), and the ends of the pair of rotating rings (13) away from the rotating seat (6) are fixedly connected to the main rod seat (3) and the auxiliary rod seat (2) respectively.

5. The robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband according to claim 4, characterized in that, The rotating seat (6) is equipped with a fixed rod (15) on the outer ring side of the inner casing (14). The two ends of the fixed rod (15) are fixedly connected to the main rod seat (3) and the auxiliary rod seat (2) respectively. The rotating seat (6) does not contact the fixed rod (15) when it rotates axially.

6. The robotic dexterous hand based on a multi-directional adjustable rotating shooting wristband according to claim 2, characterized in that, The mounting plate (9) is vertically installed inside the rear side of the main rod seat (3), and the motor (16) is fixed to the inner side of the mounting plate (9) with its output end facing inward.

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