CN104908056A - Three-finger mechanical gripper with variable structure - Google Patents

Three-finger mechanical gripper with variable structure Download PDF

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Publication number
CN104908056A
CN104908056A CN201510367511.1A CN201510367511A CN104908056A CN 104908056 A CN104908056 A CN 104908056A CN 201510367511 A CN201510367511 A CN 201510367511A CN 104908056 A CN104908056 A CN 104908056A
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CN
China
Prior art keywords
finger
knuckle
rod
palm
mechanical paw
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CN201510367511.1A
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Chinese (zh)
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CN104908056B (en
Inventor
张福海
付宜利
李国志
曲家迪
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哈尔滨工业大学
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Priority to CN201510367511.1A priority Critical patent/CN104908056B/en
Publication of CN104908056A publication Critical patent/CN104908056A/en
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Publication of CN104908056B publication Critical patent/CN104908056B/en

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Abstract

A three-finger mechanical gripper with a variable structure relates to a three-finger mechanical gripper and solves problems of large size, high maintenance cost and gripping structural limitation of the whole gripper in the present three-finger mechanical gripper. Three rotating shafts are evenly distributed on a rotating pedestal; an output shaft of a motor on the bottom end of each finger is fixedly connected with a corresponding worm rod; each worm rod is engaged with a corresponding worm gear; each small straight gear is engaged with a large straight gear; an output shaft of each finger joint motor is fixedly covered with a coupling connection rod; one end of the coupling connection rod is connected with the tail end of a short side of a second joint via a first driving rod; the other end of the coupling connection rod is connected with one end of a second connection rod and one end of a first connection rod via a second driving rod; the other end of the first connection rod is connected with the second joint; and the tail end of the long side of the second joint and the other end of the second connection rod are both connected with a first joint. The three-finger mechanical gripper with the variable structure can be applied to the technical field of robots.

Description

Three of a kind of variable configuration refers to mechanical paw
Technical field
The present invention relates to a kind of three and refer to mechanical paw, be specifically related to a kind of variable configuration three refer to mechanical paw.
Background technology
Imitate the hand of the mankind and carry out the end effector of design robot to make it have the ability to work of similar mankind's hand, thus make these mechanical paws can substitute the mankind to finish the work task, enhance versatility and the flexibility of end effector of robot.In the process of design mechanical paw, it is realize grasp stability and adaptive important research content that mechanical paw structure and mechanical paw capture configuration.
In the research of mechanical paw, the project organization of end effector of robot needs to consider how to make mechanical paw to have flexibility ratio close to staff, have multiple crawl configuration, and volume is little, lightweight.When the amount of articulation of robot increases time, the volume and weight of joint driver becomes important considering.Now, by reducing number of drives make it form mechanism that one has coupling joint, the requirement to control system can be reduced.In order to adapt to difformly to be applied object, multiple crawl configuration can be possessed by design robot end effector.Realized the determination campaign of mechanism by control inputs variable, make to form for body form the crawl configuration determined during paw operation, thus can grasp stability be strengthened, and improve the ability to work of robot in actual job environment.
The classical three-finger paw with free-standing coupling joint is disclosed in US Patent No. 5762390A.This three-finger paw utilizes single-point to fix four-bar mechanism principle, in conjunction with the spring extension effect between two articulations digitorum manus, makes three-finger paw performing the shape that can adapt to crawled object in different crawl task process, until keep certain crawl attitude.But the three-finger paw in this patent have employed hydraulically powered mode, there will be oil circuit sealing problem, system bulk is also comparatively large, and care and maintenance cost is higher simultaneously.
A kind of robotic gripper rotating and moving device of configuration-changeable with three fingers is disclosed in Chinese patent CN101844358B, this paw utilizes two sector gears forming quadrangular mechanism and two connecting rods to change the sensing of finger, thus form different crawl configurations, but wherein there is coupling between two fingers, another finger be not coupled is fixed due to polycrystalline substance and can not change the sensing of finger, and whole paw exists certain crawl configuration limitation.
From the viewpoint of theory of mechanisms, adopt the mechanical paw of coupling joint to make the number of the control inputs variable of mechanism be less than the joint number of mechanism, mechanism also can determine motion path and the track of pointing dactylus.In order to make mechanical paw have higher flexibility and simplified control system, needing mechanism to have the more free degree, making number of drives less simultaneously.If mechanical paw meets the condition that mechanism realizes determining to move, when mechanical paw is when carrying out grasping manipulation, each joint participates in driving work, so just can save certain energy, and is conducive to realizing Shape closed and force-closed when crawl object.
To sum up, existing three refer to that mechanical paws exist that volume is large, maintaining cost is high and whole paw exists certain circumscribed problem of crawl configuration.
Summary of the invention
The present invention solves existing three to refer to that mechanical paws exist that volume is large, maintaining cost is high and whole paw exists certain circumscribed problem of crawl configuration, and then provides three of a kind of variable configuration to refer to mechanical paws.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
Three of variable configuration of the present invention refers to that mechanical paw comprises palm, rotating base, centered cylinder, three rotating shafts, three turntables, three finger bottom motors, three turbines, three worm screws, three large straight gears, three small Spur gears and three fingers, rotating base is provided with three fingers, palm is by dull and stereotyped under palm, palm upper flat plate and multiple connecting cylinder composition, on the upper surface that palm upper flat plate is dull and stereotyped under being packed in palm by multiple connecting cylinder, under palm upper flat plate and palm, platen parallel is arranged, lower end dull and stereotyped under palm is packed in center, rotating base upper surface by centered cylinder,
Each finger comprises first knuckle, second knuckle, head rod, second connecting rod, first drive rod, second drive rod, coupled links and finger-joint motor, the shape of second knuckle is L-shaped, each turntable is provided with a finger-joint motor, the output shaft of each finger-joint motor is installed with a coupled links, one end of coupled links is connected with the minor face end of second knuckle by the first drive rod, the other end of coupled links is connected with one end of head rod and one end of the second connecting rod by the second drive rod, the other end of head rod is connected with second knuckle, the long edge tail of second knuckle, the other end of the second connecting rod is all connected with first knuckle,
Uniformly on rotating base be provided with three rotating shafts, each rotating shaft is fixed with a turntable, each turntable is provided with a large straight gear, output shaft and corresponding worm screw of each finger bottom motor are affixed, each worm screw and corresponding turbine engage each other, each turbine and corresponding small Spur gear are coaxially arranged, and each small Spur gear and corresponding large straight gear engage each other.
The present invention has following beneficial effect:
Three of variable configuration of the present invention refers to that the main body of each finger of mechanical paw is the multi-connecting-rod mechanism that single-point is fixed, and each finger has three joints, and finger-joint driven by motor two drive link control the stretching, extension of finger and bend; Finger bottom motor drives turbine and worm to drive small Spur gear to rotate, and small Spur gear drives large straight gear to rotate, and namely can adjust the sensing of three fingers respectively, points bottom motor by the locking position of finger after rotating to required angle; And there is not mechanism's coupling between three fingers, refer to compared with mechanical paw with existing three, parallel crawl, three can be realized refer to grasp the heart and two fingers are pinched and the different crawl configurations such as to be got, adapt to the grasping manipulation to difformity object, and improve the stability that paw captures;
Compact conformation of the present invention, overall structure size are little, lightweight, and drive number few, thus reduce the requirement to control system, reliability is high, and maintaining cost is low.
Accompanying drawing explanation
Fig. 1 is the integrated model stereogram that three of variable configuration of the present invention refers to mechanical paw, Fig. 2 is the stereogram of finger in the specific embodiment of the invention one, Fig. 3 is the stereogram of rotating base 8 in the specific embodiment of the invention one, Fig. 4 is that three of variable configuration of the present invention refers to that mechanical paw adopts two fingerhold object schematic diagrames, Fig. 5 is that three of variable configuration of the present invention refers to that mechanical paw adopts three to point and captures spheroid schematic diagram to the heart, and Fig. 6 is that three of variable configuration of the present invention refers to that mechanical paw adopts three to point parallel crawl pole schematic diagram.
Detailed description of the invention
Detailed description of the invention one: as shown in figs. 1 to 6, three finger mechanical paws of the variable configuration of present embodiment comprise palm, rotating base 8, centered cylinder 7, three rotating shafts 21, three turntables 20, three finger bottom motors 6, three turbines 23, three worm screws 24, three large straight gears 22, three small Spur gears 25 and three fingers 1, rotating base 8 is provided with three fingers 1, palm is by flat board 2 under palm, palm upper flat plate 3 and multiple connecting cylinder 4 form, palm upper flat plate 3 is packed on the upper surface of under palm dull and stereotyped 2 by multiple connecting cylinder 4, palm upper flat plate 3 be arranged in parallel with flat board 2 under palm, under palm, the lower end of dull and stereotyped 2 is packed in center, rotating base 8 upper surface by centered cylinder 7,
Each finger comprises first knuckle 11, second knuckle 12, head rod 13, second connecting rod 14, first drive rod 15, second drive rod 16, coupled links 17 and finger-joint motor 5, the shape of second knuckle 12 is L-shaped, each turntable 20 is provided with a finger-joint motor 5, the output shaft of each finger-joint motor 5 is installed with a coupled links 17, one end of coupled links 17 is connected with the minor face end of second knuckle 12 by the first drive rod 15, the other end of coupled links 17 is connected with one end of head rod 13 and one end of the second connecting rod 14 by the second drive rod 16, the other end of head rod 13 is connected with second knuckle 12, the long edge tail of second knuckle 12, the other end of the second connecting rod 14 is all connected with first knuckle 11,
Uniformly on rotating base 8 be provided with three rotating shafts 21, each rotating shaft is fixed with a turntable 20, each turntable 20 is provided with a large straight gear 22, output shaft and corresponding worm screw 24 of each finger bottom motor 6 are affixed, each worm screw 24 engages each other with corresponding turbine 23, each turbine 23 is coaxially arranged with corresponding small Spur gear 25, and each small Spur gear 25 engages each other with corresponding large straight gear 22.
Design like this, can utilize the self-locking property of worm and gear to improve the grasp stability of paw.
Detailed description of the invention two: as shown in Figure 3, rotating base 8 described in present embodiment comprises rotation platform 8-1, a lower rotation platform 8-2 and three bearing sleeve 8-3, upper rotation platform 8-1 and lower rotation platform 8-2 be arranged in parallel, three bearing sleeve 8-3 are uniform to be packed between rotation platform 8-1 and lower rotation platform 8-2, is provided with a rotating shaft 21 in each bearing sleeve 8-3.Design like this, can adjust the sensing of each finger flexibly, thus increases paw configuration diversity.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: as shown in Figure 2, described in present embodiment, three refer to that mechanical paw also comprises three first knuckle external members 9, first knuckle 11 are provided with a first knuckle external member 9.Design like this, can increase finger and frictional force during object contact, ensure grasp stability; And can avoid pointing and the surface abrasion that may be subject to during object rigid contact.Other composition and annexation identical with detailed description of the invention one or two.
Detailed description of the invention four: as shown in Figure 2, described three of present embodiment refers to that mechanical paw also comprises three second knuckle external members 10, second knuckle 12 is provided with a second knuckle external member 10.Design like this, can be evenly distributed on the stressed end face between second knuckle 12 and second knuckle external member 10 by external force, improve grasp stability; Also can avoid pointing and the surface abrasion that may be subject to during object rigid contact.Other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: described three of present embodiment refers to that mechanical paw also comprises multiple potentiometer, and each finger-joint motor 5 and each finger bottom motor 6 are provided with a potentiometer.Design like this, can detect the anglec of rotation of finger-joint motor 5 and each finger bottom motor 6, thus realize the accurate control of paw configuration.Other composition and annexation and detailed description of the invention one, two or four identical.
Operation principle:
As shown in figs. 1 to 6, three of variable configuration of the present invention refers to that three fingers of mechanical paw are uniform and is arranged on rotating base 8, the main body of each finger 1 is the multi-connecting-rod mechanism that single-point is fixed, each finger 1 has three joints, finger bottom motor 6 drives turbine and worm to drive small Spur gear 25 to rotate, small Spur gear 25 drives large straight gear 22 to rotate, can rotate rotating shaft 21 drives finger to rotate, thus the sensing of adjustment finger 1, point bottom motor 6 after rotating to required angle by the locking position of finger;
Finger-joint motor 5 drives coupled links 17 to rotate, and coupled links 17 rotarily drives the first drive rod 15 and the second drive rod 16 controls the stretching, extension of finger 1 and bends;
Namely the relative orientation of three fingers 1 of the present invention can adjust, and there is not mechanism's coupling between three fingers 1.

Claims (5)

1. three of a variable configuration refer to mechanical paw, described three refer to that mechanical paw comprises palm, rotating base (8), centered cylinder (7), three rotating shafts (21), three turntables (20), three fingers bottom motor (6), three turbines (23), three worm screws (24), three large straight gears (22), three small Spur gears (25) and three fingers (1), rotating base (8) is provided with three fingers (1), it is characterized in that: palm is by dull and stereotyped (2) under palm, palm upper flat plate (3) and multiple connecting cylinder (4) composition, palm upper flat plate (3) is packed on the upper surface of dull and stereotyped (2) under palm by multiple connecting cylinder (4), palm upper flat plate (3) be arranged in parallel with dull and stereotyped (2) under palm, under palm, the lower end of dull and stereotyped (2) is packed in rotating base (8) center, upper surface by centered cylinder (7),
Each finger comprises first knuckle (11), second knuckle (12), head rod (13), second connecting rod (14), first drive rod (15), second drive rod (16), coupled links (17) and finger-joint motor (5), the shape of second knuckle (12) is L-shaped, each turntable 20 is provided with a finger-joint motor 5, the output shaft of each finger-joint motor 5 is installed with a coupled links (17), one end of coupled links (17) is connected with the minor face end of second knuckle (12) by the first drive rod (15), the other end of coupled links (17) is connected with one end of head rod (13) and one end of the second connecting rod (14) by the second drive rod (16), the other end of head rod (13) is connected with second knuckle (12), the long edge tail of second knuckle (12), the other end of the second connecting rod (14) is all connected with first knuckle (11),
Rotating base (8) is above uniform is provided with three rotating shafts (21), each rotating shaft is fixed with a turntable (20), each turntable (20) is provided with a large straight gear (22), output shaft and corresponding worm screw (24) of each finger bottom motor (6) are affixed, each worm screw (24) and corresponding turbine (23) engage each other, each turbine (23) and corresponding small Spur gear (25) are coaxially arranged, each small Spur gear (25) and corresponding large straight gear (22) engage each other.
2. three of variable configuration according to claim 1 refer to mechanical paw, it is characterized in that: described rotating base (8) comprises rotation platform (8-1), lower rotation platform (8-2) and three bearing sleeves (8-3), upper rotation platform (8-1) and lower rotation platform (8-2) be arranged in parallel, three bearing sleeves (8-3) are uniform to be packed between rotation platform (8-1) and lower rotation platform (8-2), each bearing sleeve (8-3) is provided with a rotating shaft (21).
3. three of variable configuration according to claim 1 and 2 refer to mechanical paw, it is characterized in that: described three refer to that mechanical paw also comprises three first knuckle external members (9), first knuckle (11) are provided with a first knuckle external member (9).
4. three of variable configuration according to claim 3 refer to mechanical paw, it is characterized in that: described three refer to that mechanical paw also comprises three second knuckle external members (10), second knuckle (12) are provided with a second knuckle external member (10).
5. three of the variable configuration according to claim 1,2 or 4 refers to mechanical paw, it is characterized in that: described three refer to that mechanical paw also comprises multiple potentiometer, and each finger-joint motor (5) and each finger bottom motor (6) are provided with a potentiometer.
CN201510367511.1A 2015-06-29 2015-06-29 A kind of three finger mechanical paws of variable configuration CN104908056B (en)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082169A (en) * 2015-09-22 2015-11-25 哈尔滨工业大学 Large-tolerance mini-sized end effector having electromechanical output function
CN105345816A (en) * 2015-12-22 2016-02-24 唐晓琦 MDOF (multi-degree of freedom) manipulator based on gear transmission
CN105345836A (en) * 2015-12-08 2016-02-24 哈尔滨工业大学 Robot paw configured with three fingers and seven freedom degrees
CN105364935A (en) * 2015-12-08 2016-03-02 哈尔滨工业大学 Three-finger three-degree-of-freedom configuration robot gripper
CN106003007A (en) * 2016-06-14 2016-10-12 东莞市联洲知识产权运营管理有限公司 Linked mechanical arm applied to rod clamping
CN106426230A (en) * 2016-08-05 2017-02-22 广州市轻工职业学校 Double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device
CN106826901A (en) * 2017-03-15 2017-06-13 福州大学 A kind of three refer to electronic grasping device
CN107053242A (en) * 2016-03-07 2017-08-18 温州市科泓机器人科技有限公司 robot bionic paw
CN107322623A (en) * 2017-08-15 2017-11-07 中国地质大学(北京) A kind of three finger self-centering motor machine paws for accurately capturing
CN107775659A (en) * 2016-08-26 2018-03-09 奇异平台股份有限公司 Manipulator
WO2018054034A1 (en) * 2016-09-20 2018-03-29 上海未来伙伴机器人有限公司 Robot grasping assembly
CN108247656A (en) * 2017-12-30 2018-07-06 哈尔滨工业大学深圳研究生院 A kind of deformable ternary sequential circuit
CN109483585A (en) * 2018-05-22 2019-03-19 江南大学 A kind of adaptive strain palm mechanism
CN110653839A (en) * 2019-09-19 2020-01-07 常州工学院 Robot tongs with position fine-tuning function

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CN103722557A (en) * 2012-10-11 2014-04-16 精工爱普生株式会社 Robot hand, robot device and method of manufacturing robot hand
US20140132020A1 (en) * 2012-11-09 2014-05-15 Irobot Corporation Compliant Underactuated Grasper

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US5280981A (en) * 1991-02-01 1994-01-25 Odetics, Inc. End effector with load-sensitive digit actuation mechanisms
CN102632507A (en) * 2011-02-14 2012-08-15 精工爱普生株式会社 Robot hand and robot apparatus
CN103722557A (en) * 2012-10-11 2014-04-16 精工爱普生株式会社 Robot hand, robot device and method of manufacturing robot hand
US20140132020A1 (en) * 2012-11-09 2014-05-15 Irobot Corporation Compliant Underactuated Grasper

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105082169A (en) * 2015-09-22 2015-11-25 哈尔滨工业大学 Large-tolerance mini-sized end effector having electromechanical output function
CN105082169B (en) * 2015-09-22 2017-03-22 哈尔滨工业大学 Large-tolerance mini-sized end effector having electromechanical output function
CN105345836B (en) * 2015-12-08 2017-03-08 哈尔滨工业大学 A kind of three finger seven freedom configuration robot hands
CN105364935A (en) * 2015-12-08 2016-03-02 哈尔滨工业大学 Three-finger three-degree-of-freedom configuration robot gripper
CN105364935B (en) * 2015-12-08 2017-01-25 哈尔滨工业大学 Three-finger three-degree-of-freedom configuration robot gripper
CN105345836A (en) * 2015-12-08 2016-02-24 哈尔滨工业大学 Robot paw configured with three fingers and seven freedom degrees
CN105345816A (en) * 2015-12-22 2016-02-24 唐晓琦 MDOF (multi-degree of freedom) manipulator based on gear transmission
CN107053242A (en) * 2016-03-07 2017-08-18 温州市科泓机器人科技有限公司 robot bionic paw
CN107053242B (en) * 2016-03-07 2019-08-13 温州市科泓机器人科技有限公司 Robot bionic gripper
CN106003007B (en) * 2016-06-14 2018-05-22 深圳市乐富天智能科技有限公司 A kind of coordinated type mechanical arm for being applied to clamping rod piece
CN106003007A (en) * 2016-06-14 2016-10-12 东莞市联洲知识产权运营管理有限公司 Linked mechanical arm applied to rod clamping
CN106426230A (en) * 2016-08-05 2017-02-22 广州市轻工职业学校 Double-ring rotating multi-finger parallel clamping self-adaptive under-actuated robot hand device
CN107775659A (en) * 2016-08-26 2018-03-09 奇异平台股份有限公司 Manipulator
WO2018054034A1 (en) * 2016-09-20 2018-03-29 上海未来伙伴机器人有限公司 Robot grasping assembly
CN106826901A (en) * 2017-03-15 2017-06-13 福州大学 A kind of three refer to electronic grasping device
CN107322623A (en) * 2017-08-15 2017-11-07 中国地质大学(北京) A kind of three finger self-centering motor machine paws for accurately capturing
CN108247656A (en) * 2017-12-30 2018-07-06 哈尔滨工业大学深圳研究生院 A kind of deformable ternary sequential circuit
CN109483585A (en) * 2018-05-22 2019-03-19 江南大学 A kind of adaptive strain palm mechanism
CN110653839A (en) * 2019-09-19 2020-01-07 常州工学院 Robot tongs with position fine-tuning function

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