CN113635287B - Flexible mechanical claw for teaching mechanical arm - Google Patents
Flexible mechanical claw for teaching mechanical arm Download PDFInfo
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- CN113635287B CN113635287B CN202110962517.9A CN202110962517A CN113635287B CN 113635287 B CN113635287 B CN 113635287B CN 202110962517 A CN202110962517 A CN 202110962517A CN 113635287 B CN113635287 B CN 113635287B
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- gripper
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- 210000000078 claw Anatomy 0.000 title claims abstract description 91
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000001788 irregular Effects 0.000 claims description 5
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible mechanical claw for a teaching mechanical arm, and belongs to the field of mechanical claws. The main body part includes fin-shaped flexible claw head, claw head installation base, lateral movement module, longitudinal movement module and synchronous drive module. The fin-shaped flexible claw head adopts a fin-shaped flexible structure, the transverse and longitudinal directions of the whole mechanical claw can be respectively driven by a motor to move, the functions of clamping and loosening of each group of mechanical claw are realized through the sliding gear, and the passive adaptive rotation is performed through the torsion spring, so that the self-adaptive grabbing of various types of objects can be realized. The invention fully exerts the structural characteristics of fin effect, has the advantages of strong adaptability, good object enveloping effect, no damage to the gripped object, and the like, and has strong practicability.
Description
Technical Field
The invention belongs to the field of mechanical claws, and particularly relates to a flexible mechanical claw for a teaching mechanical arm.
Background
Flexible grippers have great potential for development and have developed gripper structures designed to mimic the "fin" effect. The mechanical structure mainly comprises a rotation pair, a rigid supporting rod and a flexible surface, and the structure can bear larger load compared with other flexible structures due to the existence of the middle rigid connecting rod.
The fin structure has passive flexibility, namely, the fin structure can be based on the characteristics of the structure without external driving, envelope is passively formed after the fin structure receives the action of external force, and the envelope effect of the fin structure is better due to the structure flexibility compared with the envelope effect of sponge, air cushion and the like due to the surface flexibility. However, the structure of the existing flexible mechanical claw is generally complex, and the adaptability and underactuated characteristics are not utilized.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and has the characteristics of flexible grabbing adaptability and underactuation to a greater extent. The adaptability of the flexible claw is fully exerted, and a wide range of target objects can be grabbed.
The technical scheme adopted by the invention is as follows:
a flexible mechanical claw for a teaching mechanical arm comprises a fin-shaped flexible claw head, a claw head mounting base, a transverse moving module, a longitudinal moving module and a synchronous driving module;
the longitudinal moving module comprises two groups of longitudinal driving mechanisms, each group of longitudinal driving mechanism comprises a guide rail, a second bevel gear, a positive and negative screw rod and sliding blocks, the two sliding blocks are arranged on the guide rail to form a sliding pair, and the positive and negative screw rods are arranged on the guide rail and pass through internal threaded holes in the two sliding blocks, so that the two sliding blocks and the positive and negative screw rods respectively form a screw rod pair moving in a reverse direction; the second bevel gear is arranged at the end part of the positive and negative tooth screw rod;
the synchronous driving module comprises a transmission shaft and first bevel gears, and the two first bevel gears are coaxially arranged on the transmission shaft in a sliding pair mode; the positive and negative tooth screws of the two groups of longitudinal driving mechanisms respectively form transmission with the two first bevel gears through second bevel gears at the end parts, and each group of longitudinal driving mechanisms is connected with the corresponding driven first bevel gear through a connecting piece and synchronously moves transversely; the transmission shaft is driven to rotate by an external driving mechanism, so that a sliding block on each positive and negative tooth screw rod is driven to longitudinally move;
the transverse moving module comprises a worm, racks, a turbine and a transmission gear, wherein the worm is driven to rotate by an external driving mechanism, the turbine and the worm form transmission fit, the transmission gear is coaxially connected and fixed with the turbine, and two racks and the transmission gear form two groups of gear-rack pairs which move reversely; the two racks are respectively connected and fixed with the guide rails in one group of longitudinal driving mechanisms, so that the two groups of longitudinal driving mechanisms can reversely move transversely under the drive of the transverse moving module;
each sliding block is connected with a claw head installation base through a torsion mechanism, a fin-shaped flexible claw head is installed on the claw head installation base, the torsion mechanism has axial torsion freedom degree, and the fin-shaped flexible claw head can be attached to the surface of an irregular object through rotation after receiving axial torsion.
Preferably, the fin-shaped flexible claw head is a bionic flexible claw head based on fin-shaped effect.
Preferably, the fin-shaped flexible claw head is used for keeping vertical to the side face of the object to be grabbed when the fin-shaped flexible claw head is not subjected to external force.
Preferably, the fin-shaped flexible claw head forms a four-claw structure, can be respectively divided into two groups in the transverse direction and the longitudinal direction for movement, and the two groups of movements are not mutually interfered.
Preferably, the torsion mechanism comprises a torsion spring and a connecting bolt which are coaxially arranged, wherein two free ends of the torsion spring are respectively connected with the claw head mounting base and the sliding block, the enlarged head of the connecting bolt is fixed on the sliding block through a screw cap, the connecting bolt has the freedom degree of rotating around the axial direction but has no freedom degree of moving along the axial direction, and the threaded end of the connecting bolt is screwed into the claw head mounting base to be fixed.
Further, the claw head mounting base is provided with a clamping groove and a spring mounting hole, the spring mounting hole is used for connecting the torsion spring, and the clamping groove is used for clamping the rigid connecting piece on the fin-shaped flexible claw head.
Preferably, the transmission shaft adopts a rectangular spline shaft.
Preferably, the fin-shaped flexible claw head is detachably mounted on the claw head mounting base.
Preferably, the flexible mechanical claw is integrally arranged on the shell, and a motor for driving the worm and the transmission shaft is arranged in the shell.
Preferably, two ends of the transmission shaft are provided with baffle rings for preventing the derailment of the two first bevel gears.
Compared with the prior art, the invention has the following beneficial effects:
1) The fin-shaped flexible claw head is used as a grabbing mechanism, and can be attached to the curved surface of an object by adopting a physical structure with fin-shaped effect, so that physical damage is avoided, and meanwhile, the construction of underactuated hand grabs can be realized, and therefore, a good grabbing effect can be achieved only through transverse movement without rotation.
2) The mechanical claw device integrally adopts a four-claw structure, can be respectively divided into two groups in the up-down direction and the left-right direction for movement, and the two groups of movements are not mutually interfered. The whole mechanical claw has free motion capability of a transverse shaft and a longitudinal shaft, can move freely in a plane to grasp, can exert the effect of the claw head to the maximum extent in the plane range, and can have a larger grasping object selection range.
3) The fin-shaped flexible claw head is connected and installed through the torsion mechanism, so that the fin-shaped flexible claw head has a passive rotation design and can rotate relative to the fin-shaped flexible claw head to fit a target. At the pivoted part of claw head, select to connect claw head support and bottom fixed part with torsion spring for torsion spring atress takes place to rotate when the finger contacts object surface, drives claw head and support inclination change, makes the finger laminate irregular object surface, introduces such a passive self-adaptation's degree of freedom of rotation, makes claw head can laminate the object more.
4) According to the invention, the bevel gear which can slide along the axial direction is arranged on the transmission shaft to carry out transmission, so that synchronous movement of the same group of mechanical claws can be realized through the sliding gear when the mechanical claws move.
5) The detachable fixing mode is adopted between the claw head mounting base and the claw head, the claw heads of different types can be directly inserted into the base through the rigid connecting piece at the bottom, the function of conveniently replacing the claw heads is realized, and the claw heads can be matched with different types of clamping targets. Meanwhile, the fixed position of the claw is provided with a certain inclination to ensure the verticality of the edge of the flexible material.
Drawings
FIG. 1 is a schematic top view of a flexible gripper;
FIG. 2 is a schematic side view of a flexible gripper;
FIG. 3 is a schematic view of a set of longitudinal drive mechanisms;
FIG. 4 is a schematic diagram of a synchronous drive module;
FIG. 5 is a schematic diagram of a lateral movement module;
fig. 6 is a schematic view of the jaw mounting base.
The reference numerals in the drawings are: the device comprises a fin-shaped flexible claw head 1, a guide rail 2, a worm 3, a rack 4, a turbine 5, a claw head mounting base 7 of a transmission shaft 6, a first bevel gear 8, a second bevel gear 9, a torsion mechanism 10, a positive and negative screw 11, a transmission gear 12, a sliding block 13, a connecting piece 14, a shell 15, a clamping groove 701 and a torsion spring mounting hole 702.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected with intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
In the description of the present invention, it should be understood that the terms "first" and "second" are used solely for the purpose of distinguishing between the descriptions and not necessarily for the purpose of indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Referring to fig. 1 and 2, in a preferred embodiment of the present invention, a flexible gripper for a teaching robot is provided, the flexible gripper being for teaching demonstration purposes. The flexible mechanical claw comprises a fin-shaped flexible claw head 1, a claw head mounting base 7, a transverse moving module, a longitudinal moving module and a synchronous driving module.
In the present invention, the longitudinal direction and the transverse direction are both relative to the movement plane of the gripper, and the gripper is movable in two orthogonal directions in the movement plane, wherein one movement direction is the transverse direction and the other movement direction is the longitudinal direction. In the present embodiment, the horizontal direction in fig. 1 is taken as the lateral direction, and the vertical direction in fig. 1 is taken as the longitudinal direction.
In this embodiment, the fin-shaped flexible claw heads 1 have four total, so as to form a four-claw structure, and can be divided into two groups in the transverse direction and the longitudinal direction for movement, and the two groups of movements are not interfered with each other. This movement is achieved by the cooperation of the lateral movement module, the longitudinal movement module and the synchronous drive module. The specific structure and operation form of the lateral movement module, the longitudinal movement module and the synchronous driving module will be described in detail.
The longitudinal moving module is used for achieving mutual approaching of the two groups of fin-shaped flexible claw heads 1 along the longitudinal direction, so that grabbing of objects with different lengths can be achieved.
The longitudinal moving modules comprise two groups of longitudinal driving mechanisms, and each group of longitudinal moving modules is used for driving one group of fin-shaped flexible claw heads 1. As shown in fig. 3, each group of longitudinal driving mechanism comprises a linear guide rail 2, a second bevel gear 9, a positive and negative screw 11 and sliding blocks 13, wherein the two sliding blocks 13 are arranged on the guide rail 2 to form a sliding pair, the positive and negative screw 11 is arranged on the guide rail 2 and passes through internal threaded holes in the two sliding blocks 13, and the two sliding blocks 13 are respectively matched with two sections of threads of the positive and negative screw 11 in opposite directions, so that the two sliding blocks 13 respectively form a screw pair moving in opposite directions with the positive and negative screw 11, and when the positive and negative screw 11 rotates, the two sliding blocks 13 can be mutually close to or mutually far away along the guide rail 2. The end part of the positive and negative tooth screw rod 11 is provided with a second bevel gear 9 for connecting an external driving mechanism. Therefore, in the longitudinal moving module, the rotary motion is converted into the linear motion by adopting the sliding spiral transmission consisting of the positive and negative screw 11, the sliding block 13 and the like, and the longitudinal moving module has the characteristics of simple structure, convenience in processing, stable and noiseless work, self-locking and the like. In addition, in order to support the positive and negative screw 11, rolling bearings may be provided at both ends of the positive and negative screw 11, and the bearings may be positioned by using shoulders, and a coupling and a shaft connected to an external driving mechanism may be provided thereto.
In addition, the synchronous driving module of the embodiment is mainly used for realizing synchronous movement with different center distances caused by transverse movement in longitudinal movement. Because of this gripper, the distance between the two screws is in a constantly changing state due to the presence of the lateral movement. As shown in fig. 3, the synchronous drive module includes a drive shaft 6 and first bevel gears 8, and the two first bevel gears 8 are coaxially mounted on the drive shaft 6 in a sliding pair. The positive and negative screw rods 11 of the two groups of longitudinal driving mechanisms respectively form transmission with two first bevel gears 8 through second bevel gears 9 at the end parts, and each second bevel gear 9 is respectively matched with one and only one first bevel gear 8 to form a rotary mechanism for driving the positive and negative screw rods 11 to rotate. Moreover, since there is a lateral movement between the two sets of longitudinal driving mechanisms, each set of longitudinal driving mechanisms is connected to the corresponding driven first bevel gear 8 by a connecting piece 14 and moves synchronously in lateral direction in order to ensure that the second bevel gear 9 and the first bevel gear 8 can always be in meshed transmission. As shown in fig. 4, the connecting member 14 in the present embodiment employs an arc-shaped rigid connecting member having fixed ends at both ends. The two second bevel gears 9 can move along the axial direction on the transmission shaft 6 and synchronously rotate with the transmission shaft 6, and the transmission shaft 6 can be driven to rotate by an external driving mechanism, so that the sliding blocks 13 on each positive and negative tooth screw 11 are driven to move longitudinally. And in the synchronous driving module, the synchronous is realized by utilizing a sliding bevel gear structure. In the synchronous driving module, by selecting two sliding bevel gears and installing the sliding bevel gears on the spline shaft for driving the rotary motion between the two adjacent shafts, the rotary motion transmission from the spline shaft to the screw in the longitudinal movement can be realized. The transmission shaft 6 preferably adopts a rectangular spline shaft, the spline connection has higher bearing capacity than the flat key connection, the shaft is weak, the centering and guiding performance are good, and the device is suitable for connection with high centering precision requirement and frequent sliding. In addition, baffle rings can be added at two ends of the transmission shaft 6 to prevent the bevel gear from derailing. In actual design, in order to support the spline shaft, rolling bearings can be arranged at two ends of the spline shaft, and the bearings are positioned by adopting shaft shoulders; synchronous movement of different center distances caused by transverse movement in longitudinal movement is realized through the shifting fork sliding gear.
The function of the transverse moving module is to complete the opposite movement of the two groups of fin-shaped flexible claw heads 1 along the transverse direction, meanwhile, the two groups of fin-shaped flexible claw heads are hoped to be self-locking, and the whole is required to complete the movement basically on one plane so as to avoid the collision with other module parts. As shown in fig. 5, the transverse moving module comprises a worm 3, a rack 4, a turbine 5 and a transmission gear 12, wherein the worm 3 is driven to rotate by an external driving mechanism, the turbine 5 and the worm 3 form transmission fit, the transmission gear 12 and the turbine 5 are coaxially connected and fixed through a connecting shaft, and two racks 4 and the transmission gear 12 respectively form two groups of gear-rack pairs which move reversely and synchronously. The two racks 4 are respectively connected and fixed with the guide rail 2 in one group of longitudinal driving mechanisms, so that the two groups of longitudinal driving mechanisms can synchronously and reversely transversely move under the drive of the transverse moving module. The transverse moving module is completed by adopting the gear-rack pair transmission, the rack is fixed in two directions by depending on the guide rail, and meanwhile, the worm gear pair is added at the input end to realize the self-locking function, so that the transverse moving module can be fixed without continuous input when an object is clamped. When the whole device works, the worm 3 can be input by an external motor to rotate, the turbine 5 is driven to rotate, the transmission gear 12 is driven to rotate through the connecting shaft, and the transmission gear 12 simultaneously drives the two racks 4 to move in opposite directions in one direction, so that the aim is achieved.
Therefore, through the cooperation of the transverse moving module, the longitudinal moving module and the synchronous driving module, the four sliding blocks 13 on the two positive and negative tooth screw rods 11 can be controlled to carry out bidirectional control along the transverse direction and the longitudinal direction, and the final movable plane range in the embodiment is about 200mm square on the side. Each sliding block 13 is connected with a claw head installation base 7 through a torsion mechanism 10, and a fin-shaped flexible claw head 1 is installed on the claw head installation base 7, so that 4 fin-shaped flexible claw heads 1 can be driven to achieve the grabbing function of a target object in a plane. The torsion mechanism 10 has a degree of freedom of axial torsion, and can make the fin-shaped flexible claw head 1 rotate to attach to the surface of an irregular object after receiving torque around the axial direction while playing a role of connection.
In this embodiment, the fin-shaped flexible claw head 1 is a bionic flexible claw head based on fin-shaped effect. Referring to fig. 1, the fin-shaped flexible claw head 1 is designed to adopt a rigid support frame with a flexible material as a side surface and a plurality of intervals in the middle, the rigid support frame and the side surfaces at two sides are connected by a rotary pair, and the claw structure can simulate a 'fin' effect to grab objects. In actual manufacturing, a round hole is designed on the inner wall of the flexible side face and is used for being connected with the rigid supporting frame, and the flexible side wall can be directly molded by using 3D printing of flexible materials.
In addition, the flexible mechanical claw is used for teaching, and demonstration of different functions is realized by replacing different claw heads. Therefore, in order to facilitate the detachable installation of the fin-shaped flexible jaw 1, the jaw installation base 7 shown in fig. 6 may be used, the jaw installation base 7 is a block body in an approximately trapezoidal form, a clamping groove 701 and a spring installation hole 702 are arranged on the block body, the spring installation hole 702 is used for connecting a torsion spring, and the clamping groove 701 is used for clamping a rigid support frame on the fin-shaped flexible jaw 1. The base design can fix the bottommost rigid support frame in the fin-shaped flexible claw head 1 through the clamping groove 701, and the rigid support frames at the bottoms of claw heads of different types can be directly inserted into the base, so that the function of conveniently replacing the claw heads is realized. Meanwhile, the fixed part of the claw head mounting base 7 also keeps a certain inclination angle, so that the fin-shaped flexible claw head 1 is used for keeping vertical to the side surface of one side attached to an object to be grabbed under the action of external force after being mounted, and has a good grabbing effect. Of course, the fin-shaped flexible claw head 1 can be connected and fixed with the clamping groove 701 through other rigid connecting pieces.
In addition, the torsion mechanism 10 of the present invention can be implemented in a variety of ways, and generally can be implemented using a torsion spring structure. In a preferred embodiment, the torsion mechanism 10 comprises a coaxially arranged torsion spring and a connecting bolt, the torsion spring having two free ends connected to the jaw mounting base 7 and the slider 13, respectively. The bottom of the sliding block 13 can be provided with a hollow screw cap which can be unscrewed, the hollow screw cap is provided with an internal thread, and the bottom of the sliding block 13 is provided with a section of protruding external thread, so that the hollow screw cap can be screwed on the bottom of the sliding block 13. The end of the hollow screw cap is provided with a through hole for the connecting bolt to pass through, but the aperture of the through hole is smaller than the enlarged head of the connecting bolt. Thus, the hollow screw cap can be unscrewed first, then the connecting bolt is passed through the through hole, while the enlarged head remains in the screw cap, and then the screw cap is unscrewed again, so that the connecting bolt is fixed to the slider 13 by the screw cap, in which case the connecting bolt has a degree of freedom of rotation about the axial direction but no degree of freedom of movement in the axial direction. In addition, the threaded end of the connecting bolt is screwed into the jaw mounting base 7 for fixing, and the fin-shaped flexible jaw 1 is mounted on the jaw mounting base 7, so that the fin-shaped flexible jaw 1 can be driven by the sliding block 13 and synchronously move, and meanwhile, a certain torsion degree of freedom can be realized. The torsion freedom is axially twisted around the torsion spring and the connecting bolt. The mechanical claw can rotate around the axial direction of the mechanical claw by a certain angle in the process of actually grabbing an object so as to better attach to the surface of the object, so that the mechanical claw head is enabled to rotate under the stress of a certain torque when contacting the surface of the object through the torsion spring added between the claw head base and the sliding block, and the inclination angle of the claw head and the bracket is driven to change. Thus, a passively adaptive rotational degree of freedom is introduced so that the jaw may conform more to irregular objects. In addition, two baffles are added at the front end of the spring, and the whole spring mechanism is mainly used for keeping the claw at the initial centering position when no external force or only a small external force is applied.
The connection between the slider 13 and the torsion mechanism 10 may be direct connection or indirect connection. If indirect connection is adopted, a slider base can be arranged at the bottom of the slider 13, the torsion mechanism 10 is connected with the slider base, and the slider base is connected with the slider 13.
In addition, the flexible gripper in this embodiment may be integrally mounted on the housing 15, and the motor for driving the worm 3 and the transmission shaft 6 is mounted in the housing 15, and the fin-shaped flexible gripper head 1 needs to extend out of the housing 15.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (10)
1. The flexible mechanical claw for the teaching mechanical arm is characterized by comprising a fin-shaped flexible claw head (1), a claw head mounting base (7), a transverse moving module, a longitudinal moving module and a synchronous driving module;
the longitudinal moving module comprises two groups of longitudinal driving mechanisms, each group of longitudinal driving mechanism comprises a guide rail (2), a second bevel gear (9), a positive and negative screw rod (11) and sliding blocks (13), the two sliding blocks (13) are arranged on the guide rail (2) to form sliding pairs, and the positive and negative screw rods (11) are arranged on the guide rail (2) and penetrate through internal threaded holes in the two sliding blocks (13) to enable the two sliding blocks (13) and the positive and negative screw rods (11) to form screw rod pairs moving reversely; the second bevel gear (9) is arranged at the end part of the positive and negative tooth screw rod (11);
the synchronous driving module comprises a transmission shaft (6) and first bevel gears (8), and the two first bevel gears (8) are coaxially arranged on the transmission shaft (6) in a sliding pair mode; the positive and negative tooth screw rods (11) of the two groups of longitudinal driving mechanisms respectively form transmission with the two first bevel gears (8) through second bevel gears (9) at the end parts, and each group of longitudinal driving mechanisms is connected with the corresponding driven first bevel gear (8) through a connecting piece (14) and synchronously moves transversely; the transmission shaft (6) is driven to rotate by an external driving mechanism, so that a sliding block (13) on each positive and negative tooth screw rod (11) is driven to longitudinally move;
the transverse moving module comprises a worm (3), racks (4), a worm wheel (5) and a transmission gear (12), wherein the worm (3) is driven to rotate by an external driving mechanism, the worm wheel (5) and the worm (3) form transmission fit, the transmission gear (12) is coaxially connected and fixed with the worm wheel (5), and two racks (4) and the transmission gear (12) form two groups of gear-rack pairs which move reversely; the two racks (4) are respectively connected and fixed with the guide rail (2) in one group of longitudinal driving mechanisms, so that the two groups of longitudinal driving mechanisms can reversely move transversely under the drive of the transverse moving module;
each sliding block (13) is connected with a claw head installation base (7) through a torsion mechanism (10), a fin-shaped flexible claw head (1) is installed on the claw head installation base (7), the torsion mechanism (10) has axial torsion freedom degree, and the fin-shaped flexible claw head (1) can be attached to the surface of an irregular object through rotation after receiving axial torsion.
2. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the fin-shaped flexible gripper head (1) is a bionic flexible gripper head based on a fin-shaped effect.
3. Flexible gripper for teaching robot arm according to claim 1, characterized in that the fin-shaped flexible gripper head (1) is adapted to remain perpendicular to the side surface of the object to be gripped against which it is attached, without external forces.
4. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the fin-shaped flexible gripper head (1) forms a four-jaw structure, which can be divided into two groups in the transverse and longitudinal directions for movement, respectively, without the two groups of movements interfering with each other.
5. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the torsion mechanism (10) comprises a coaxially arranged torsion spring and a connecting bolt, the two free ends of the torsion spring being connected to the gripper head mounting base (7) and the slider (13), respectively, the enlarged head of the connecting bolt being fixed to the slider (13) by means of a screw cap, the connecting bolt having a degree of freedom of rotation around the axis but no degree of freedom of movement along the axis, the threaded end of the connecting bolt being screwed into the gripper head mounting base (7) for fixation.
6. The flexible mechanical gripper for a teaching mechanical arm according to claim 5, characterized in that a clamping groove (701) and a spring mounting hole (702) are arranged on the gripper head mounting base (7), the spring mounting hole (702) is used for connecting the torsion spring, and the clamping groove (701) is used for clamping a rigid connecting piece on the fin-shaped flexible gripper head (1).
7. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the drive shaft (6) is a rectangular spline shaft.
8. Flexible gripper for teaching robots according to claim 1 characterized in that the fin-shaped flexible gripper head (1) is detachably mounted on a gripper head mounting base (7).
9. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the flexible gripper is integrally mounted on a housing (15), and that the housing (15) is internally provided with a motor driving the worm (3) and the drive shaft (6).
10. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the drive shaft (6) is provided with stop rings at both ends to prevent derailment of the two first bevel gears (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110962517.9A CN113635287B (en) | 2021-08-20 | 2021-08-20 | Flexible mechanical claw for teaching mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110962517.9A CN113635287B (en) | 2021-08-20 | 2021-08-20 | Flexible mechanical claw for teaching mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113635287A CN113635287A (en) | 2021-11-12 |
| CN113635287B true CN113635287B (en) | 2023-12-19 |
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