Modular robotic hand with telescoping knuckles

Abstract

The utility model discloses a modularization mechanical hand with telescopic finger joint belongs to mechanical hand technical field, including mounting seat, mounting seat bottom is equipped with finger subassembly, and mounting seat top is equipped with connecting assembly, in the process of clamping the article, can move through the electric push rod and drive the sliding seat to move to change the length of the finger joint through the position of moving the sliding seat, and then conveniently clamp different articles, and can improve the application scope of the mechanical hand, and in the process of clamping, can contract the fingertip to the sliding seat through the depression to avoid the situation of producing the sliding of the arc surface of fingertip side and the article contact.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to a modular robotic arm with telescopic knuckles. Background Technology

[0002] Nowadays, with the rapid development of technology, more and more operations can be performed by robots, thereby reducing human intervention and improving work efficiency. At the same time, because robots can reduce or completely eliminate human intervention during the operation, they can reduce the harm to the human body during the operation, thus helping to reduce the occurrence of accidents. In addition, there are many types of robots, and different types of robots can be used for different operations.

[0003] When robots are used for operations, they can handle goods and perform other operations by using robotic arms and hands, and can also grip welding guns and other equipment. However, some knuckle-type robotic hands are inconvenient to grip items due to their short knuckles. In order to solve the above problems, there is an urgent need for a modular robotic hand with telescopic knuckles. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the non-adjustable length of the finger joints in traditional knuckle-type mechanical grippers affects the gripping process, and to propose a modular mechanical hand with telescopic knuckles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a modular robotic hand with telescopic knuckles, including a mounting base, a finger assembly at the bottom of the mounting base, and a connecting assembly at the top of the mounting base;

[0006] The finger assembly includes a hinge base, a first joint is hinged to the bottom end of the hinge base, a second joint is hinged to the bottom end of the first joint, an electric push rod is installed at the bottom end of the second joint, a sliding seat is installed at the telescopic end of the electric push rod, and a fingertip is installed at the bottom end of the sliding seat.

[0007] As a further description of the above technical solution:

[0008] A first spring is installed at the tip of the fingertip, and the other end of the first spring is fixedly connected to the sliding seat.

[0009] As a further description of the above technical solution:

[0010] The sliding seat is slidably connected to the second joint through a groove on one side of the second joint, and the fingertip is slidably connected to the sliding seat through a groove at the bottom of the sliding seat.

[0011] As a further description of the above technical solution:

[0012] The fingertip has a groove on one side, and the bottom of the sliding seat has a protrusion corresponding to the groove. The top of the hinge seat is fixedly connected to the bottom surface of the mounting seat.

[0013] As a further description of the above technical solution:

[0014] The connecting component includes a fixing block, on which a card plate is slidably mounted via slots on both sides, and a movable seat is slidably mounted within a slot on the bottom surface of the fixing block.

[0015] As a further description of the above technical solution:

[0016] A pull rod is installed at one end of the movable seat, a second spring is installed on one side of the movable seat, and a connecting column is installed at the top of the movable seat.

[0017] As a further description of the above technical solution:

[0018] The connecting column is slidably connected to the card plate through a groove opened in the card plate, and the groove opened in the card plate is an inclined groove. The movable seat is slidably connected to the mounting seat through a groove opened on the top surface of the mounting seat.

[0019] As a further description of the above technical solution:

[0020] The bottom end of the fixing block is fixedly connected to the mounting base, and the pull rod is slidably connected to the mounting base through a groove opened in the mounting base.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0022] 1. In this utility model, during the clamping process, the sliding seat can be moved by the electric push rod, thereby changing the length of the finger joint by moving the position of the sliding seat, which facilitates the clamping of different items and improves the applicability of the robotic arm. During the clamping process, the fingertip can be retracted into the sliding seat by pressing down, thereby avoiding the slippage that occurs when the curved surface on one side of the fingertip contacts the item.

[0023] 2. In this utility model, when installing the robotic arm, the pull rod can be pulled to retract the clamping plate into the fixing block, thereby placing the fixing block into the groove provided inside the robotic arm. Then, by inserting the clamping plate into the robotic arm, the mounting base is connected to the robotic arm, thereby achieving a quick connection of the mounting base, reducing the installation time of the robotic arm, and thus improving the installation efficiency and usage efficiency. Attached Figure Description

[0024] Figure 1This is a three-dimensional structural diagram of a modular robotic hand with retractable knuckles.

[0025] Figure 2 This is an exploded three-dimensional structural diagram of a modular robotic hand with retractable knuckles.

[0026] Figure 3 This is an exploded three-dimensional structural diagram of a finger assembly in a modular robotic hand with retractable knuckles.

[0027] Figure 4 This is an exploded three-dimensional structural diagram of the connecting components of a modular robotic hand with telescopic knuckles.

[0028] Legend:

[0029] 1. Mounting base; 2. Finger assembly; 201. Hinge base; 202. First joint; 203. Second joint; 204. Electric actuator; 205. Sliding base; 206. First spring; 207. Finger tip; 3. Connecting assembly; 301. Clamping plate; 302. Fixing block; 303. Moving base; 304. Connecting post; 305. Second spring; 306. Pull rod. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0031] In its specific implementation, such as Figures 1-4 This utility model provides a technical solution: a modular robotic hand with telescopic knuckles, including a mounting base 1, a finger assembly 2 at the bottom of the mounting base 1, and a connecting assembly 3 at the top of the mounting base 1;

[0032] The finger assembly 2 includes a hinge base 201, with a first joint 202 hinged to the bottom of the hinge base 201, a second joint 203 hinged to the bottom of the first joint 202, an electric push rod 204 mounted on the bottom of the second joint 203, a sliding seat 205 mounted on the telescopic end of the electric push rod 204, a fingertip 207 mounted on the bottom of the sliding seat 205, a first spring 206 mounted on the top of the fingertip 207, and the other end of the first spring 206 fixedly connected to the sliding seat 205. The sliding seat 205 is slidably connected to the second joint 203 through a groove on one side of the second joint 203, and the fingertip 207 is slidably connected to the sliding seat 205 through a groove on the bottom of the sliding seat 205. A groove is provided on one side of the fingertip 207, and a protrusion corresponding to the groove is provided on the bottom of the sliding seat 205. The top of the hinge base 201 is fixedly connected to the bottom surface of the mounting base 1.

[0033] Specifically, during clamping, the drive motor provided on one side of the hinge seat 201 and the first joint 202 can drive the first joint 202 and the second joint 203 to rotate, thereby clamping the object through the sliding seat 205 and the fingertip 207. At the same time, when the fingertip 207 contacts the object, the fingertip 207 is subjected to the reaction force of the object, causing the groove on the outer side of the fingertip 207 to contact the sliding seat 205, thereby limiting the fingertip 207. During the clamping process, the sliding seat 205 can be moved by the electric push rod 204, thereby changing the position of the fingertip 207 and thus changing the length of the finger. At the same time, during the clamping process, the fingertip 207 can also be retracted into the sliding seat 205 by pressing down on it, thereby causing the arc surface on one side of the fingertip 207 to fold up, thus facilitating the clamping of some objects.

[0034] like Figure 4 As shown, the connecting component 3 includes a fixing block 302. A retaining plate 301 is slidably installed on the fixing block 302 through slots on both sides. A movable seat 303 is slidably installed in a slot on the bottom surface of the fixing block 302. A pull rod 306 is installed at one end of the movable seat 303. A second spring 305 is installed on one side of the movable seat 303. A connecting post 304 is installed at the top of the movable seat 303. The connecting post 304 is slidably connected to the retaining plate 301 through a slot in the retaining plate 301. The slot in the retaining plate 301 is an inclined slot. The movable seat 303 is slidably connected to the mounting seat 1 through a slot on the top surface of the mounting seat 1. The bottom end of the fixing block 302 is fixedly connected to the mounting seat 1. The pull rod 306 is slidably connected to the mounting seat 1 through a slot in the mounting seat 1.

[0035] Specifically, when installing the robotic arm, the movable seat 303 can be moved by pulling the lever 306, thereby moving the connecting column 304. Since the connecting column 304 is located in the groove opened in the clamping plate 301, the clamping plate 301 can be moved by the pressure of the connecting column 304 when the connecting column 304 moves, and then retract into the fixing block 302. Then the fixing block 302 is placed into the slot reserved in the robotic arm, and the lever 306 is released. At the same time, the movable seat 303 is reset under the action of the second spring 305, and the clamping plate 301 is extended again.

[0036] Working principle: When installing the robotic arm, pulling the lever 306 moves the movable seat 303, which in turn moves the connecting column 304. Since the connecting column 304 is located within the groove in the clamping plate 301, its movement causes the clamping plate 301 to be compressed and moved, retracting into the fixing block 302. The fixing block 302 is then placed into the slot reserved in the robotic arm. Releasing the lever 306 allows the movable seat 303 to reset under the action of the second spring 305, causing the clamping plate 301 to extend again. During clamping, the hinge seat 201 connects with the first... A drive motor on one side of joint 202 drives the first joint 202 and the second joint 203 to rotate. The object is clamped by the sliding seat 205 and the fingertip 207. When the fingertip 207 contacts the object, the fingertip 207 is subjected to the reaction force of the object, so that the groove on the outside of the fingertip 207 contacts the sliding seat 205, limiting the fingertip 207. During the clamping process, the sliding seat 205 can be moved by the electric push rod 204 to change the position of the fingertip 207 and thus change the length of the finger. During the clamping process, the fingertip 207 can also be retracted into the sliding seat 205 by pressing down on the fingertip 207.

[0037] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0038] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0039] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0040] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A modular robotic hand with retractable knuckles, characterized in that, include: Mounting base (1), the bottom end of which is provided with finger assembly (2), and the top end of which is provided with connecting assembly (3); The finger assembly (2) includes a hinge base (201), a first joint (202) is hinged to the bottom end of the hinge base (201), a second joint (203) is hinged to the bottom end of the first joint (202), an electric push rod (204) is installed at the bottom end of the second joint (203), a sliding seat (205) is installed at the telescopic end of the electric push rod (204), and a fingertip (207) is installed at the bottom end of the sliding seat (205).

2. A modular robotic hand with telescopic knuckles according to claim 1, characterized in that, A first spring (206) is installed at the tip of the fingertip (207), and the other end of the first spring (206) is fixedly connected to the sliding seat (205).

3. A modular robotic hand with telescopic knuckles according to claim 2, characterized in that, The sliding seat (205) is slidably connected to the second joint (203) through a groove on one side of the second joint (203), and the fingertip (207) is slidably connected to the sliding seat (205) through a groove at the bottom of the sliding seat (205).

4. A modular robotic hand with telescopic knuckles according to claim 3, characterized in that, The fingertip (207) has a groove on one side, and the bottom of the sliding seat (205) has a protrusion corresponding to the groove. The top of the hinge seat (201) is fixedly connected to the bottom surface of the mounting seat (1).

5. A modular robotic hand with telescopic knuckles according to claim 1, characterized in that, The connecting component (3) includes a fixing block (302), on which a card plate (301) is slidably installed through slots on both sides, and a movable seat (303) is slidably installed in the slot on the bottom surface of the fixing block (302).

6. A modular robotic hand with telescopic knuckles according to claim 5, characterized in that, A pull rod (306) is installed at one end of the movable seat (303), a second spring (305) is installed on one side of the movable seat (303), and a connecting column (304) is installed at the top of the movable seat (303).

7. A modular robotic hand with telescopic knuckles according to claim 6, characterized in that, The connecting column (304) is slidably connected to the card plate (301) through a groove opened in the card plate (301), and the groove opened in the card plate (301) is an inclined groove. The movable seat (303) is slidably connected to the mounting seat (1) through a groove opened on the top surface of the mounting seat (1).

8. A modular robotic hand with telescopic knuckles according to claim 6, characterized in that, The bottom end of the fixing block (302) is fixedly connected to the mounting base (1), and the pull rod (306) is slidably connected to the mounting base (1) through the groove opened in the mounting base (1).

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