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CN-116394296-B - Mechanical knuckle of intelligent robot

CN116394296BCN 116394296 BCN116394296 BCN 116394296BCN-116394296-B

Abstract

The invention belongs to the technical field of manipulators, and discloses an intelligent robot mechanical knuckle which comprises a palm plate, a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure, wherein the thumb structure, the index finger structure, the middle finger structure, the ring finger structure and the little finger structure are movably sleeved with the palm plate, the index finger structure is a connecting knuckle, a rotary cover is movably sleeved at the bottom of the palm plate, a connecting gear is meshed with the top of the rotary cover, a movable assembly is fixedly connected with the middle part of the connecting gear, and positioning assemblies are fixedly connected with two sides of the movable assembly. According to the invention, through the cooperation of the structures such as the rotating cover, the connecting knuckle and the connecting gear, the extrusion assembly is driven to move towards the limiting frame by the rotation of the bolt gear set, so that the extrusion assembly extrudes the matching assembly, the matching assembly moves in the limiting frame, the first toothed ring meshed with the connecting toothed plate is driven to deflect, the movement in the horizontal direction is achieved, and the grasping range is further enlarged.

Inventors

  • ZHAO XINTAI
  • FU FANYI
  • QIN LIJUAN
  • ZHANG HOUMING
  • PAN TENGFEI
  • XU LEGAO

Assignees

  • 天长市天翔集团有限公司

Dates

Publication Date
20260508
Application Date
20230407

Claims (8)

  1. 1. The intelligent robot mechanical knuckle comprises a palm plate (1) and a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure which are movably sleeved with the palm plate (1), wherein the index finger structure is a connecting knuckle (3), the intelligent robot mechanical knuckle is characterized in that a rotary cover (2) is movably sleeved at the bottom of the palm plate (1), a connecting gear (4) is meshed at the top of the rotary cover (2), a movable assembly (5) is fixedly connected at the middle part of the connecting gear (4), positioning assemblies (6) are fixedly connected to two sides of the movable assembly (5), a transmission assembly (7) is movably sleeved at the surface of the connecting gear (4), a movable assembly (8) is movably sleeved at one end, far away from the connecting gear (4), of the transmission assembly (8), a driving assembly (9) is meshed at one end, far from the transmission assembly (7), a matching assembly (11) is meshed at the middle part of the rotary cover (2), a bolt (13) is meshed at the front end of the driving assembly (9), and a bolt (13) is meshed at one end of the driving assembly (13); The rotary cover (2) comprises a cover body (21), a first toothed ring (22) is fixedly arranged on the outer surface of the cover body (21), an arc-shaped groove is formed in the inner wall of the cover body (21), and the top of the arc-shaped groove is in a through state; The connecting knuckle (3) comprises a connecting ball (31), a second toothed ring (32) is fixedly arranged in the middle of the outer surface of the connecting ball (31), a first knuckle (33) is fixedly connected to the bottom of the connecting ball (31), and a second knuckle and a third knuckle are hinged to the bottom of the first knuckle (33) in sequence; the driving assembly (9) comprises a driving motor (91), a first gear (92) is fixedly arranged in the middle of an output shaft of the driving motor (91), and a first threaded rod (93) is fixedly connected with the tail end of the output shaft of the driving motor (91), the extrusion assembly (12) comprises a movable push plate (121) positioned in the palm plate (1), and three movable push rods (122) which are distributed at intervals are fixedly arranged on one side, close to the limiting frame (10), of the movable push plate (121); When the knuckle is loosened after the grabbing action is finished, the first threaded rod (93) reversely rotates to drive fingers to be unfolded, in the unfolding process, the synchronous first gear (92) rotates to drive the bolt gear set (13) to rotate, the bolt gear set (13) drives the extrusion assembly (12) to move, the movable push plate (121) moves towards the direction of the limiting frame (10), the movable push rod (122) is driven to extrude the matching assembly (11), and the corresponding rotary cover (2) is driven to deflect in the horizontal direction, so that different finger structures can be unfolded in the horizontal direction.
  2. 2. The intelligent robot knuckle according to claim 1, wherein the movable assembly (5) comprises a fixed sleeve (51), two ends of the fixed sleeve (51) are movably sleeved with a first connecting rod (52), one end, far away from the fixed sleeve (51), of the first connecting rod (52) is fixedly connected with a universal shaft (53), the other end of the universal shaft (53) is fixedly connected with the positioning assembly (6), and the middle part of the fixed sleeve (51) is fixedly connected with the connecting gear (4).
  3. 3. The intelligent robot knuckle according to claim 2, wherein the positioning assembly (6) comprises a first ball shaft lever (61), a positioning plate (62) is movably sleeved at the middle part of the first ball shaft lever (61), the first ball shaft lever (61) is fixedly connected with the universal shaft (53), the positioning plate (62) is fixedly connected with the palm plate (1), and one end, far away from the universal shaft (53), of the positioning plate (62), far away from the universal shaft (53) is movably arranged in the palm plate (1).
  4. 4. The intelligent robot knuckle according to claim 1, wherein the transmission assembly (7) comprises a second connecting rod (71), a second ball shaft lever (72) is movably sleeved inside one end of the second connecting rod (71), and the middle part of the second ball shaft lever (72) is movably sleeved with the connecting gear (4).
  5. 5. The intelligent robot knuckle according to claim 4, wherein the moving assembly (8) comprises a movable block (81), a third connecting rod (82) is fixedly connected to two sides of the movable block (81), and the third connecting rod (82) is movably sleeved with the second connecting rod (71).
  6. 6. The intelligent robot knuckle according to claim 5, characterized in that the first threaded rod (93) is in threaded connection with the movable block (81), and the driving motor (91) is fixedly installed inside the palm plate (1).
  7. 7. The intelligent robot knuckle according to claim 1, wherein the limiting frame (10) comprises a limiting frame body (101), a connecting stop block (102) is arranged at one end of the inside of the limiting frame body (101) at intervals, the limiting frame body (101) is fixedly arranged in the palm plate (1), a matching component (11) is movably sleeved in the inside of the limiting frame body (101), the matching component (11) comprises a connecting toothed plate (111), balls (112) are arranged on two sides of the connecting toothed plate (111), a fixing block (114) is fixedly connected to one side, adjacent to the balls (112), of the surface of the connecting toothed plate (111), a spring (113) is fixedly arranged on one side, along the length direction, of the connecting toothed plate (111), of the fixing block (102) and the other end of the spring (113), the balls (112) slide in grooves in the inside of the limiting frame body (101), and one side, away from the spring (113), of the connecting toothed plate (111) is meshed with the first toothed ring (22).
  8. 8. The intelligent robot knuckle according to claim 7, wherein positioning columns (123) are movably sleeved at two ends of the movable pushing plate (121), the positioning columns (123) are fixedly connected with the limiting frame body (101), the bolt gear sets (13) are in threaded connection with the movable pushing plate (121), and when the movable pushing plate (121) moves towards the limiting frame (10) along the axial direction of the positioning columns (123), the movable pushing rod (122) extrudes the matched assembly (11).

Description

Mechanical knuckle of intelligent robot Technical Field The invention belongs to the technical field of mechanical arms, and particularly relates to an intelligent robot knuckle. Background Technological progress drives the manufacturing industry to develop, and the robot is a device for automatically executing tasks, which can not only accept command of human beings, but also can act through a preprogrammed program, so that the robot can replace work of human beings, and the manipulator is an important component part of the robot, the capability of grabbing objects is directly related to the value of fingers of the robot, the current machine part on the market adopts a structure simulating hands of human beings, and can perform grabbing and other operations, but most of grabbing modes of the robot are grabbing that the knuckles swing along one direction, and when people grab, people grab in a five-finger separated mode, and the grabbing area of the five-finger separated state is wider, so that the robot is improved for the problems. Disclosure of Invention (One) solving the technical problems In order to solve the problems in the prior art, the invention provides an intelligent robot mechanical knuckle, which is characterized in that through the cooperation of the structures such as a rotating cover, a connecting knuckle and a connecting gear, the extruding assembly is driven to move towards the limiting frame through the rotation of a bolt gear set, so that the extruding assembly extrudes the matching assembly, the matching assembly moves in the limiting frame, and then the first toothed ring meshed with a connecting toothed plate is driven to deflect, so that the movement in the horizontal direction is achieved, and the intelligent robot mechanical knuckle has the advantage of wide grabbing range. (II) technical scheme In order to achieve the above purpose, the intelligent robot knuckle comprises a palm plate, a thumb structure, an index finger structure, a middle finger structure, a ring finger structure and a little finger structure which are movably sleeved with the palm plate, wherein the index finger structure is a connecting knuckle, a rotary cover is movably sleeved at the bottom of the palm plate, a connecting gear is meshed with the top of the rotary cover, a movable assembly is fixedly connected with the middle part of the connecting gear, positioning assemblies are fixedly connected with two sides of the movable assembly, a transmission assembly is movably sleeved on the surface of the connecting gear, a moving assembly is movably sleeved at one end of the transmission assembly away from the connecting gear, a driving assembly is meshed at one end of the moving assembly away from the transmission assembly, a matching assembly is meshed at the middle part of the rotary cover, the matching assembly is movably sleeved in the limiting frame, a bolt gear set is meshed at the front end of the driving assembly, and one end of the bolt gear set is in threaded connection with an extrusion assembly. Preferably, the rotary cover comprises a cover body, a first toothed ring is fixedly arranged on the outer surface of the cover body, an arc-shaped groove is formed in the inner wall of the cover body, and the top of the arc-shaped groove is in a through state. Preferably, the connecting knuckle comprises a connecting ball, a second toothed ring is fixedly arranged in the middle of the outer surface of the connecting ball, a first knuckle is fixedly connected to the bottom of the connecting ball, and a second knuckle and a third knuckle are sequentially hinged to the bottom of the first knuckle. Preferably, the movable assembly comprises a fixed sleeve, a first connecting rod is movably sleeved at two ends of the fixed sleeve, a universal shaft is fixedly connected with one end of the first connecting rod, which is far away from the fixed sleeve, the other end of the universal shaft is fixedly connected with the positioning assembly, and the middle part of the fixed sleeve is fixedly connected with the connecting gear. Preferably, the positioning assembly comprises a first ball shaft lever, a positioning plate is movably sleeved at the middle part of the first ball shaft lever, the first ball shaft lever is fixedly connected with the universal shaft, the positioning plate is fixedly connected with the palm plate, and one end, away from the universal shaft, of the first ball shaft lever, which is located at the positioning plate and is away from the universal shaft, is movable in the palm plate. Preferably, the transmission assembly comprises a second connecting rod, a second ball shaft rod is movably sleeved in one end of the second connecting rod, and the middle part of the second ball shaft rod is movably sleeved with the connecting gear. Preferably, the moving assembly comprises a movable block, wherein the two sides of the movable block are fixedly connected with third connecting rods, and the third conn