Underwater traction pulley type anthropopathic mechanical hand

Abstract

The invention discloses an underwater traction pulley type anthropopathic mechanical hand, which comprises a palm body, a thumb body, an index finger body, a middle finger body, the third finger body, a little finger body and a wrist joint, wherein the palm body comprises a shell in a shape like a Chinese character ''tu'' and same three U-shaped brackets. The long edge side of the shell in the shape like the Chinese character ''tu'' is respectively connected with the three U-shaped brackets. The index finger body, the middle finger body and the third finger body which are same in structure and distributed uniformly at an interval are respectively connected with the U-shaped brackets. The thumb body is connected with an end face of a groove of the shell in the shape like the Chinese character ''tu'' close to one side of the index finger body. The little finger body is connected with a side face of the groove of the shell in the shape like the Chinese character ''tu'' close to one side of the third finger body. The wrist joint is connected with a short edge side face of the shell in the shape like the Chinese character ''tu''. According to the invention, the weight of the fingers is lightened, the size of the fingers is reduced, and the accumulated error of transmission is reduced through transmission of the traction pulley. Mechanical parts are simpler in design so that the manufacturing cost of the parts is lowered. The misgiving about waterproof and anti-creep performances of the mechanical hand is avoided, and the reliability of the mechanical hand is improved, so that the underwater traction pulley type anthropopathic mechanical hand is suitable for underwater operation.

Description

technical field [0001] The invention relates to a manipulator structure, in particular to an underwater traction pulley type anthropomorphic manipulator. Background technique [0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the disadvantages of ordinary end effectors such as single clamping method, small movable space, lack of flexibility, and difficulty in precise control, a dexterous manipulator came into being. The dexterous manipulator has multiple degrees of freedom, can grasp objects of various shapes and materials, and can also perform fine manipulations on the grasped objects. Using it instead of a special gripper and installing it at the end of the robot manipulator can not only expand the working range of the robot, but also improve the working quality of the robot. [0003] In the early 18...

AI Technical Summary

Problems solved by technology

[0004] Most of the dexterous manipulators mentioned above use built-in motors to drive the finger joints, which have the disadvantages of large size, heavy weight, low waterproof and leakage prevention performance, which are not conducive to the underwater operation of dexterous manipulators.

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