Dexterous hand with detachable fingers

Abstract

The utility model relates to the related technical field of manipulators, in particular to a dexterous hand with detachable fingers, which comprises a driving base, a connecting end is arranged at one end of the driving base, and a fixing base suitable for being connected with a dexterous hand mechanism is arranged at the connecting end; the connecting groove is formed in the end of the fixed base, the two ends of the connecting groove are through, the end of the connecting groove extends in the height direction of the driving base, and the fixed end of the dexterous hand mechanism is contained in the connecting groove; the fixing mechanism is arranged on the connecting groove and used for fixing the dexterous hand mechanism contained in the connecting groove. The fixing base of the driving base is provided with the connecting groove for clamping the fixing end of the dexterous hand mechanism, so that the fixing end of the dexterous hand mechanism can be quickly inserted into the fixing base, and the dexterous hand mechanism can be stably fixed on the fixing base under the action of the fixing mechanism, so that the dexterous hand can be quickly disassembled.

Description

Technical Field

[0001] This utility model relates to a dexterous hand, and more particularly to a dexterous hand with detachable fingers, belonging to the technical field of robotic hands. Background Technology

[0002] Dexterous hands are end effectors that mimic the structure and function of the human hand. As an important branch of robotics, they have evolved from simple grasping tools to highly complex and intelligent end effectors. Primarily used for robot-environment interaction, they possess high degrees of freedom. Dexterous hands typically have a certain number of fingers, and their technological principles involve the cross-integration of multiple fields such as mechanical design, electronic engineering, materials science, and computer science. The applications of dexterous hands are wide-ranging, including industrial manufacturing, medical, service, scientific research, and exploration. Dexterous hands can perform precise assembly and inspection tasks on automated production lines. Their high degree of freedom and flexibility can adapt to parts of different shapes, sizes, and materials, thereby improving production efficiency and product quality.

[0003] The dexterous hand mainly consists of a finger mechanism, a palm base mechanism, and an integrated system. The finger mechanism is connected to the palm base mechanism, which in turn has a drive mechanism to operate the finger mechanism. The integrated system then controls both the drive mechanism and the finger mechanism. However, the finger mechanism in the dexterous hand is modular and can be replaced individually. In contrast, when using the dexterous hand, the fixed end of the finger mechanism is typically connected to the palm base mechanism with multiple bolts. When repairing or replacing the finger mechanism, each bolt must be unscrewed to disconnect it from the palm base mechanism, making replacement and repair inconvenient and thus affecting the production efficiency of the production line.

[0004] Therefore, there is an urgent need to improve dexterous hands with detachable fingers in order to solve the aforementioned problems. Utility Model Content

[0005] The purpose of this invention is to provide a dexterous hand with detachable fingers. By opening a connecting groove on the fixed base of the drive base for the fixed end of the dexterous hand mechanism to be snapped into, the fixed end of the dexterous hand mechanism can be quickly inserted into the fixed base. Under the action of the fixing mechanism, the dexterous hand mechanism can be stably fixed on the fixed base, thereby realizing the quick disassembly of the dexterous hand.

[0006] To achieve the above objectives, the main technical solution adopted by this utility model includes: a driving base, one end of which is a connecting end, and a fixed base suitable for connecting a dexterous hand mechanism is provided on the connecting end; a connecting groove, which is opened on the end of the fixed base and is open at both ends, the end of the connecting groove extends along the height direction of the driving base, and the fixed end of the dexterous hand mechanism is accommodated in the connecting groove; and a fixing mechanism, which is provided on the connecting groove and is used to fix the dexterous hand mechanism accommodated in the connecting groove.

[0007] Preferably, the fixed end of the dexterous hand mechanism is provided with a snap-fit ​​groove, and the inner walls on both sides of the snap-fit ​​groove are symmetrically provided with arc-shaped grooves. The fixed end side wall of the dexterous hand mechanism is provided with a stop plate. The side of the stop plate facing the connecting groove is provided with a stabilizing protrusion along the extension direction of the fixed end. The periphery of the connecting groove is provided with a stabilizing groove to accommodate the stabilizing protrusion for movable engagement.

[0008] Preferably, the fixing mechanism includes pins and a pressing member; wherein, there are two pins arranged symmetrically, one end of each pin corresponding to the arc groove is an arc protrusion, the arc protrusion and the arc groove are movably engaged, and the pressing member is used to drive the two pins to move synchronously laterally in opposite directions.

[0009] Preferably, a cover plate is connected to the end of the connecting groove away from the dexterous hand mechanism, and a support frame is connected to the side of the cover plate facing the inside of the connecting groove. The support frame is adapted to accommodate the snap-fit ​​groove, and a support rod is symmetrically and longitudinally connected to both sides of the support frame. A sliding rail with a track groove is connected to the support rod, and the pin block slides on the sliding rail.

[0010] Preferably, the pin block has a longitudinally inclined extrusion groove on one side, and the extrusion component includes a trapezoidal block and a bolt; wherein, the trapezoidal block is an isosceles trapezoidal structure, and the inclined surface of the trapezoidal block is in contact with the inclined surface of the extrusion groove, the inner walls on both sides of the extrusion groove are provided with pushing grooves, and both sides of the inclined surface of the trapezoidal block are provided with elongated protrusions, the elongated protrusions are slidably disposed in the pushing grooves, one end of the bolt extends through the cover plate to the outside and is connected to a turning wheel, the bolt is rotatably connected to the cover plate, and one end of the bolt located inside the connecting groove is threadedly connected to the trapezoidal block.

[0011] Preferably, a second support rod is connected to the support frame, and a rotating plate is connected to the second support rod. One end of the bolt located inside the connecting groove rotates on the rotating plate. When the fixed end of the dexterous hand mechanism is located inside the connecting groove, the rotating plate abuts against the inner top wall of the locking groove.

[0012] Preferably, a sliding rod is connected to the side of the cover plate facing the inside of the connecting groove along the bolt extension direction, and a telescopic tube with an opening at one end and a hollow structure is connected to both sides of the trapezoidal block, and the sliding rod is slidably connected to the telescopic tube.

[0013] This utility model has at least the following beneficial effects:

[0014] 1. By creating a connecting slot on the fixed base of the drive base for the fixed end of the dexterous hand mechanism to be snapped into, the fixed end of the dexterous hand mechanism can be quickly inserted into the fixed base. Under the action of the fixing mechanism, the dexterous hand mechanism can be stably fixed on the fixed base, thereby realizing the quick disassembly of the dexterous hand. Compared with the bolt connection method, this method can achieve quick disassembly when the dexterous hand mechanism is disassembled, repaired or replaced, thus facilitating the replacement and maintenance of the dexterous hand mechanism and avoiding the impact on the production efficiency of the production line. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a schematic diagram of the isometric three-dimensional structure provided by this utility model;

[0017] Figure 2 A cross-sectional structural schematic diagram provided for this utility model;

[0018] Figure 3 Provided by this utility model Figure 2 Enlarged structural diagram at point A in the middle;

[0019] Figure 4 Provided by this utility model Figure 1 Schematic diagram of a localized explosion structure;

[0020] Figure 5 An exploded view of the fixing mechanism provided by this utility model;

[0021] Figure 6 Provided by this utility model Figure 5 Schematic diagram of the middle section.

[0022] In the diagram, 1. Drive base; 2. Connecting end; 3. Dexterous hand mechanism; 301. Fixed end; 4. Fixed base; 51. Snap-fit ​​groove; 52. Arc groove; 53. Support plate; 54. Stabilizing protrusion; 55. Stabilizing groove; 61. Pin block; 62. Arc protrusion; 63. Cover plate; 64. Support frame; 65. Support rod one; 66. Sliding track; 67. Track groove; 68. Extrusion groove; 69. Trapezoidal block; 610. Bolt; 7. Connecting groove; 8. Pushing groove; 9. Long strip protrusion; 10. Twisting wheel; 11. Support rod two; 12. Rotating plate; 13. Sliding rod; 14. Telescopic tube. Detailed Implementation

[0023] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0024] like Figures 1-6 As shown, the dexterous hand with detachable fingers provided in this embodiment includes a drive base 1, a connecting groove 7, and a fixing mechanism. Specifically, one end of the drive base 1 is set as a connecting end 2. The drive base 1 is a palm base mechanism in the prior art. The connecting end 2 is provided with a fixing base 4 suitable for connecting the dexterous hand mechanism 3. There are several fixing bases 4, and the number of fixing bases 4 is equal to the number of dexterous hand mechanisms 3. The dexterous hand mechanism 3 is a prior art structure and will not be described in detail. The connecting groove 7 is opened on the end of the fixing base 4 and is open at both ends. The end of the connecting groove 7 extends along the height direction of the drive base 1, and the fixing end 301 on the dexterous hand mechanism 3 is accommodated in the connecting groove 7. The fixing end 301 is the connecting end of the dexterous hand mechanism 3. The fixing mechanism is set on the connecting groove 7 and is used to fix the dexterous hand mechanism 3 accommodated in the connecting groove 7.

[0025] When in use, the fixed end 301 of the dexterous hand mechanism 3 is aligned with the connecting groove 7 and inserted into the connecting groove 7. Then, the fixing mechanism can be used to fix it in the connecting groove 7, thereby completing the fixing operation of the dexterous hand mechanism 3. Compared with the fixing method using bolts 610, this fixing method is more convenient and saves time.

[0026] Specifically, such as Figure 4As shown, the fixed end 301 of the dexterous hand mechanism 3 is provided with a snap-fit ​​groove 51. The inner walls of the snap-fit ​​groove 51 are symmetrically provided with arc-shaped grooves 52. The side wall of the fixed end 301 of the dexterous hand mechanism 3 is provided with a stop plate 53. The side of the stop plate 53 facing the connecting groove 7 is provided with a stabilizing protrusion 54 along the extension direction of the fixed end 301. The periphery of the connecting groove 7 is provided with a stabilizing groove 55 to accommodate the stabilizing protrusion 54. When the snap-fit ​​groove 51 and the arc-shaped groove 52 are connected, the stabilizing protrusion 54 will connect with the stabilizing groove 55 and snap into the stabilizing groove 55, increasing the snap-fit ​​area and structure between the two, thereby stabilizing the connection relationship between the fixed end 301 of the dexterous hand mechanism 3 and the fixed base 4.

[0027] like Figure 5 as well as Figure 6 As shown, in order to solve the problem that the fixed end 301 of the dexterous hand mechanism 3 can be locked in the connecting groove 7, the fixing mechanism includes a pin 61 and a pressing member. There are two pins 61, which are symmetrically arranged. The two pins 61 can more effectively stabilize the fixed end 301 of the dexterous hand mechanism 3 and prevent the connection from becoming unstable when the dexterous hand mechanism 3 is locked in the connecting groove 7 under force. Then, the end of the pin 61 corresponding to the arc groove 52 is an arc protrusion 62. The arc protrusion 62 and the arc groove 52 are movably locked. The pressing member is used to drive the two pins 61 to move laterally synchronously and in opposite directions. When the fixed end 301 of the dexterous hand mechanism 3 is locked in the connecting groove 7, the pressing member drives the pin 61 to move laterally, so that the arc protrusion 62 will come into close contact with the arc groove 52. At this time, the dexterous hand mechanism 3 is fixed on the fixed base 4.

[0028] like Figures 3-5 As shown, a cover plate 63 is connected to the end of the connecting groove 7 away from the dexterous hand mechanism 3. A support frame 64 is connected to the side of the cover plate 63 facing the inside of the connecting groove 7. The support frame 64 is adapted to accommodate the snap-fit ​​groove 51. Support rods 65 are symmetrically and longitudinally connected to both sides of the support frame 64. A sliding rail 66 with a track groove 67 is connected to the support rod 65. The pin block 61 slides on the sliding rail 66, thereby limiting the movement trajectory of the pin block 61, so that it can move stably and directionally under the drive of the extruder, which facilitates the engagement and connection between the arc protrusion 62 on the pin block 61 and the arc groove 52 in the snap-fit ​​groove 51.

[0029] Among them, such as Figure 6 As shown, a pressing groove 68 is longitudinally inclined on one side of the pin block 61, and the pressing component includes a trapezoidal block 69 and a bolt 610; furthermore, as Figures 5-6As shown, the trapezoidal block 69 has an isosceles trapezoidal structure, and the inclined surface of the trapezoidal block 69 is in contact with the inclined surface of the extrusion groove 68. Pushing grooves 8 are provided on the inner walls of both sides of the extrusion groove 68. Long strip protrusions 9 are provided on both sides of the inclined surface of the trapezoidal block 69. The long strip protrusions 9 are slidably arranged in the pushing grooves 8. One end of the bolt 610 extends through the cover plate 63 to the outside and is connected to a turning wheel 10. The bolt 610 is rotatably connected to the cover plate 63. One end of the bolt 610 located inside the connecting groove 7 is threadedly connected to the trapezoidal block 69.

[0030] When the bolt 610 is rotated by the turning wheel 10, the bolt 610 will drive the trapezoidal block 69 to move in the vertical direction of the cover plate 63. The inclined surface of the trapezoidal block 69 will then push the inclined surface of the extrusion groove 68. Then, under the action of the sliding rail 66, it will move laterally, so that the arc-shaped protrusion 62 and the arc-shaped groove 52 are laterally connected and engaged. After the two are tightly engaged, the turning wheel 10 is stopped. Under the action of the bolt 610, the pin block 61 is prevented from shifting in the opposite direction, and the engagement relationship between the pin block 61 and the engagement groove 51 is stabilized. This fixes the fixed end 301 of the dexterous hand mechanism 3 contained in the connecting groove 7. When it is necessary to release the fixation of the dexterous hand mechanism 3, the bolt 610 is rotated in the opposite direction. Under the action of the pushing groove 8 and the long protrusion 9, the pin block 61 will be dragged to move in the opposite direction, so that the arc-shaped protrusion 62 is away from the arc-shaped groove 52. At this time, the dexterous hand mechanism 3 is in a detachable state, and the fixation of the dexterous hand mechanism 3 is released.

[0031] like Figure 5 As shown, a second support rod 11 is connected to the support frame 64, and a rotating plate 12 is connected to the second support rod 11. One end of the bolt 610 located inside the connecting groove 7 rotates on the rotating plate 12, which increases the stability of the bolt 610 when rotating. When the fixed end 301 of the dexterous hand mechanism 3 is located inside the connecting groove 7, the rotating plate 12 abuts against the inner top wall of the snap-fit ​​groove 51, thereby increasing the stability of the snap-fit ​​groove 51 when it is connected to the connecting groove 7.

[0032] Finally, as Figure 6 As shown, in order to facilitate and stabilize the movement of the trapezoidal block 69, a sliding rod 13 is connected to the side of the cover plate 63 facing the inside of the connecting groove 7 along the extension direction of the bolt 610. Both sides of the trapezoidal block 69 are connected to a telescopic tube 14 with an opening at one end and a hollow structure. The sliding rod 13 is slidably connected to the telescopic tube 14. When the bolt 610 drives the trapezoidal block 69 to move linearly, its telescopic rod will slide on the sliding rod 13, thereby stabilizing the movement of the trapezoidal block 69.

[0033] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A dexterous hand with finger detachability, characterized by: The utility model relates to a drive base (1) one end is equipped with the connection end (2), the connection end (2) is equipped with the fixed base (4) suitable for connecting nimble handset structure (3) on the fixed base (4) end is opened and both ends are through, the end of connection groove (7) extends along the height direction of drive base (1), and the fixed end (301) of nimble handset structure (3) is contained in connection groove (7), fixed mechanism is equipped with connection groove (7) and is used for nimble handset structure (3) fixed in connection groove (7) is contained to nimble handset structure (3) is equipped with the clamping groove (51) on the fixed end (301) end of nimble handset structure (3), the arc slot (52) is opened to the both sides inner wall of clamping groove (51) symmetry, nimble handset structure (3) is equipped with the abutment plate (53) on the side wall of fixed end (301), the side surface of abutment plate (53) is equipped with stable protruding (54) along the fixed end (301) extension direction to nimble handset structure (3) one side side face of connection groove (7), the periphery of connection groove (7) is equipped with stable groove (55) and nimble handset structure (3) is contained stable protruding (54) and is moved and is clamped, fixed mechanism includes pin block (61) and extrusion piece, wherein, the pin block (61) is two, and symmetrically sets up, the one end of pin block (61) with arc slot (52) corresponds to arc protruding (62), and arc protruding (62) and arc slot (52) between movable clamping, and the extrusion piece is used for driving two pin blocks (61) synchronous transverse movement, and the moving direction is opposite. The end of connection groove (7) is connected with the cover plate (63) away from nimble handset structure (3), the side surface of cover plate (63) is connected with support frame (64) to nimble handset structure (3) one side side face of connection groove (7), and support frame (64) is suitable for containing clamping groove (51), and the both sides of support frame (64) are longitudinally connected with support rod one (65), and support rod one (65) is connected with sliding rail (66) with track groove (67), and pin block (61) slides on sliding rail (66). The one side of pin block (61) is longitudinally inclined and is equipped with extrusion groove (68), and the extrusion piece includes trapezoidal block (69) and bolt (610), wherein, the trapezoidal block (69) is isosceles trapezoidal structure, and the inclined surface of trapezoidal block (69) is in contact with the inclined surface of extrusion groove (68), the inner wall of extrusion groove (68) is equipped with push groove (8) on both sides, the both sides of the inclined surface of trapezoidal block (69) are equipped with strip protruding (9), the strip protruding (9) is slidably arranged in push groove (8), one end of bolt (610) is extended to the outside through cover plate (63) and is connected with the screwing wheel (10), bolt (610) is rotatably connected with cover plate (63), one end of bolt (610) in connection groove (7) is screwedly connected with trapezoidal block (69). ​ ​ ​ 2. The dexterous hand with detachable fingers of claim 1, wherein: ​ 3. A dexterous hand with detachable fingers as claimed in claim 2, wherein: ​ 4. A dexterous hand with detachable fingers as claimed in claim 3, wherein: The support frame (64) is connected with a support rod two (11), the support rod two (11) is connected with a rotating plate (12), the bolt (610) is located in one end of the connecting groove (7) and rotates on the rotating plate (12), when the fixed end (301) of the dexterous hand mechanism (3) is located in the connecting groove (7), the rotating plate (12) abuts against the inner top wall of the clamping groove (51).

5. A dexterous hand with detachable fingers as claimed in claim 3, wherein: The cover plate (63) is connected with a sliding rod (13) on one side of the cover plate (63) facing the inside of the connecting groove (7) along the extension direction of the bolt (610), both sides of the trapezoidal block (69) are connected with a telescopic pipe (14) with a hollow structure and an opening at one end, and the sliding rod (13) and the telescopic pipe (14) are slidingly connected.

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