CN105522585B - A kind of robot hand - Google Patents
A kind of robot hand Download PDFInfo
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- CN105522585B CN105522585B CN201410521762.6A CN201410521762A CN105522585B CN 105522585 B CN105522585 B CN 105522585B CN 201410521762 A CN201410521762 A CN 201410521762A CN 105522585 B CN105522585 B CN 105522585B
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- mounting bracket
- robot hand
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- installing plate
- roller
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Abstract
The present invention relates to a kind of robot hand to include tensioning mechanism and Liang Gelunqu mechanisms, and the tensioning mechanism includes linear motor and the first mounting bracket and the second mounting bracket that are slidably connected at linear motor both ends；The Liang Gelunqu mechanisms are installed on the first mounting bracket and the second installation axle by rotation axis respectively；Each Lun Qu mechanisms include multiple rollers for being used to drive the robot hand movement.Implement the robot hand of the present invention, by the basis of original jaw type paw, with reference to certain elastic roller so that robot hand can improve flexibility and the mobility of itself on the basis of original holding capability is kept.It is mounted with that the robot of the present invention is particluarly suitable for being moved on truss.
Description
Technical field
The present invention relates to robot technology, more specifically to a kind of robot hand.
Background technology
The paw of robot is to be used for realization crawl of the robot to object or is to carry out climbing movement for robot
Instrument.Existing robot hand is typically to use clamp type structure, realizes that object captures to facilitate.This usual speed of structure
It is slow, and structure bulky, it is unfavorable for the Miniaturization Design of robot, restricts flexibility and the mobility of robot.
The content of the invention
For structure during operation, speed is slow used by the present invention is directed to existing robot hand, and ties
Structure is heavy, the defects of being unfavorable for the Miniaturization Design of robot, restrict flexibility and the mobility of robot, there is provided a kind of new-type
Robot hand to overcome the above problem.
The scheme that the present invention solves the above problems is：Constructing a kind of robot hand includes tensioning mechanism and two wheel drive machines
Structure, the tensioning mechanism include linear motor and the first mounting bracket and the second mounting bracket that are slidably connected at linear motor both ends；
The Liang Gelunqu mechanisms are installed on the first mounting bracket and the second mounting bracket by rotation axis respectively；Each wheel drive machine
Structure includes multiple rollers for being used to drive the robot hand movement.
The robot hand of the present invention, is respectively equipped with to direction linear motor on first mounting bracket and the second mounting bracket
Extension to taking over the baton, be correspondingly provided with the linear motor and worn with described pair of matched butt hole of taking over the baton, described pair of slip of taking over the baton
It is connected in the butt hole.
The robot hand of the present invention, the tensioning mechanism, which further includes, is screwed in first mounting bracket and the second mounting bracket
Adjusting bolt upper, for adjusting first mounting bracket and the second installation rack position.
The robot hand of the present invention, the Lun Qu mechanisms include the first roller installing plate being oppositely arranged and the second rolling
Cylinder installing plate, the first roller installing plate and second tin roller installing plate are linked into an integrated entity by fixing device；First rolling
Multiple rollers have been mounted side by side between cylinder installing plate and second tin roller installing plate；Wheel is additionally provided with fixing device and turns axis installation
Part, the wheel drive axle mount and are installed on by rotation axis on first mounting bracket or the second mounting bracket.
The robot hand of the present invention, the roller outside are coated with padded coaming.
The robot hand of the present invention, the Lun Qu mechanisms, which further include, is fixed on the first roller installing plate and the second rolling
Wheel between cylinder installing plate drives motor, and the wheel drives motor and drives synchronous pulley to rotate；The synchronous pulley by synchronous belt with
Drum drive connects.
The robot hand of the present invention, the synchronous pulley and the synchronous belt are equipped with teeth, the synchronous pulley and
The synchronous belt is intermeshed by teeth.
The robot hand of the present invention, is connected by toothed belt transmission between the roller.
The robot hand of the present invention, the fixing device are led to the first roller installing plate, second tin roller installing plate
Spring is crossed to be connected.
The robot hand of the present invention, further includes the empennage between the tensioning mechanism and Lun Qu mechanisms, described
Empennage forms angle with the rollers roll direction of advance.
The robot hand for implementing the present invention has following beneficial effect：By the way that the paw of jaw type is mutually tied with roller
Close, obtain the novel robot paw of the present invention, which can carry on the basis of original holding capability is kept
The flexibility of height itself and mobility, are particluarly suitable for carrying out climbing sports on truss.
Brief description of the drawings
Below in conjunction with attached drawing, the present invention will be described, wherein：
Fig. 1 is the structure diagram of robot hand of the present invention installation on the robotic arm；
Fig. 2 is the structure diagram of tensioning mechanism in Fig. 1 robot hands；
Fig. 3 is the structure diagram of Fig. 1 robot hand Zhong Lunqu mechanisms；
Fig. 4 is the synchronous driving principle schematic diagram of Lun Qu mechanisms；
Fig. 5 is that the wheel in another embodiment drives structural scheme of mechanism；
Fig. 6 is the structure diagram for installing tail on robot hand.
Embodiment
The robot hand of the present invention, on the basis of original jaw type paw, with reference to certain elastic roller, makes
Flexibility and the mobility of itself can be improved on the basis of original holding capability is kept by obtaining robot hand.
In order to which the clearer robot hand to the present invention is illustrated, below in conjunction with the drawings and specific embodiments pair
The present invention is described in detail.
The robot hand for the present invention is installed on the structure diagram on mechanical arm 300 as shown in Figure 1；Robot hand
Mainly include two kinds of components：Tensioning mechanism 100 and Lun Qu mechanisms 200, are provided with lithium battery, as tension on mechanical arm 300
The power source that mechanism 100 and Lun Qu mechanisms 200 move.Lun Qu mechanisms 200 are provided with two, are separately positioned on tensioning mechanism 100
Both ends on, the both ends with tensioning mechanism 100 are respectively by rotating axis connection.When tensioning mechanism 100 adjusts both ends distance
Wait, adjustment of the Liang Gelunqu mechanisms 200 into row position can be driven, so as to fulfill the action of clamping or the release of paw.And
Liang Gelunqu mechanisms 200 can also be rotated by rotation axis, so as to fulfill clamping different shape object and the mesh creeped
's.
Further, multiple driving wheels are also equipped with Lun Qu mechanisms 200, the surface of driving wheel is flexible slow
Rush material so that Lun Qu mechanisms 200 are capable of providing more stable clamping effect.If Lun Qu mechanisms 200 are clamped in suitable table
When on face, by operating driving wheel, Lun Qu mechanisms 200 can be allowed to drive whole robot to move, so as to fulfill rolling what is moved ahead
Purpose.
In order to which the clearer function to above-mentioned tensioning mechanism 100 and Lun Qu mechanisms 200 illustrates, below with reference to
Its respective component enlarged diagram is illustrated.
It is illustrated in figure 2 the structure diagram of tensioning mechanism 100.Tensioning mechanism 100 is mainly adjustable by two relative distances
Mounting bracket (101,102) composition, the first mounting bracket 101 is identical with the shape of the second mounting bracket 102, is the metal of " Contraband " shape
Part, two mounting brackets are installed on linear motor 105 (movable type of attachment etc. has been required for detailed description), and specific the
Be respectively arranged with one mounting bracket 101 and the second mounting bracket 102 two to linear motor 105 telescopic direction extend to taking over the baton
104, and the correspondence position on linear motor 105 is provided with butt hole 106,104 slidably wear to taking over the baton and be connected on butt hole
In so that two mounting brackets can be moved relative to linear motor 105.
On two mounting brackets, an adjusting bolt 103 is also each installed, adjusting bolt 103 adjusts peace when rotated
Shelve the position of (101,102) between linear motor 105.Except the position for making manually to adjust two mounting brackets
Outside, the adjustment by linear motor 105 to two mounting brackets into row position can also be passed through：The straight-line electric of two same sizes is set
Machine, is connected with two mounting brackets respectively, the push pull maneuver of two mounting brackets known in two linear motors difference；Linear motor is usual
The load of radial direction cannot be born, therefore, the connecting rod of linear motor end is equipped with line slideway, by consolidating installed in linear motor
Linear bearing in reservation, connector can be with friction free linear slides.There is mounting hole in connector end, can fix wheeled drive
Dynamic part.
(movable type of attachment, is drivingly connected, and is slidably connected or is rotatablely connected etc. and has been required for detailed description, each component
Connection relation and relative position relation)
In the opening of the mounting bracket of two " Contraband " shapes, Lun Qu mechanisms 200 are installed to installation by way of rotation axis
On frame so that Lun Qu mechanisms 200 can be rotated relative to mounting bracket.When rotatable Lun Qu mechanisms 200 coordinate two can
During with mobile mounting bracket (101,102), whole paw can realize the holding action of jaw type robot hand.
On the other hand, the structure of the Lun Qu mechanisms 200 on mounting bracket (101,102) is as shown in Figure 3.Lun Qu mechanisms
Include two roller installing plates (201,202) being oppositely arranged, the first roller installing plate 201 and second tin roller installing plate on 200
202 is opposite and be arranged in parallel, and between two roller installing plates (201,202), multiple rollers 203 have been arranged side by side, all
The transmission system that roller 203 is made of motor, transmission belt drives operation, such as drives one of roller with motor and conveyer belt
Rotate, the roller of the rotation continues Li Rong transmission belts and drives other remaining rollers to rotate together.Two pieces of roller installing plates (201,
202) it is fixed together by the common fixed structure such as screw, fixed plate, wheel is also provided with fixed structure and turns axis peace
Piece installing 204, wheel drive axle mount 204 and are installed on by rotation axis on corresponding mounting bracket (101,102).On roller 203
It is also wrapped on the padded coaming of elasticity, such as sponge etc..
In order to which more clearly paddle wheel drives the synchronous rotation how mechanism 200 realizes multiple rollers 203, below in conjunction with Fig. 4
Illustrate.It is illustrated in figure 4 the structure diagram that rotatable parts are arrived involved in the Lun Qu mechanisms 200 of Fig. 3.In Lun Qu mechanisms
In 200, including a wheel drives motor 206, and wheel drives motor 206 and is fixedly mounted between roller installing plate (201,202), which drives
The shaft of motor 206 drives a synchronous pulley 207 to rotate, and teeth are provided with synchronous pulley 207, for synchronous belt 205
On teeth intermeshing；Synchronous belt 205 is except for the power of synchronous pulley 207 to be transferred to roller 203, being additionally operable to two
Power transmission between a roller 203, i.e. wheel, which are driven motor 206 and be driven by wherein one end of synchronous belt 205 and roller 203, to be connected
Connect, drive other rollers to rotate together by synchronous belt 205 on the other end of the roller.Since this is that a kind of engagement passes
It is dynamic, thus synchronous belt is directly slided with synchronous pulley without opposite, so that the transmission between driving and driven component reaches synchronous.
It will be detailed below synchronous belt 205 and how synchronous pulley 207 set：Toothed belt transmission with band tooth and the gear teeth according to
Secondary engagement carrys out passing power, achievees the purpose that Synchronous Transmission.Therefore when synchronous belt transmits moment of torsion, band acts under tension,
Band tooth is sheared, and toothed working surface will be worn during entering and exiting with gear teeth meshing.Therefore it is synchronous
The main failure forms of band have following three kinds：
(1) fatigue fracture of synchronous belt carrying rope；
(2) toothed shear fracture；
(3) band tooth working surface abrasion, loses original shape.
In fact, when the total number of teeth in engagement with tooth and belt wheel is more than 6, toothed shear strength is more than tensile strength.Meanwhile
With the setting with the nylon bag layer of cloth on tooth working surface is adhered to, toothed wearability is greatly improved.Therefore exist
Under normal circumstances, the principal mode of synchronous belt is fatigue fracture of the band in the case where becoming pulling force effect.So toothed belt transmission is basis
The tensile strength of band is designed as design criteria.On this basis, benchmark rated power is：
P0=(Ta-mv2)v
In formula：
P0--- the benchmark rated power that certain synchronous belt is transmitted under datum width, W；
Ta--- allowable working pulling force of certain synchronous belt under datum width, N；
M --- linear mass of certain synchronous belt under datum width, kg/m；
V --- synchronous line speeds, m/s；
The purpose of toothed belt transmission design be to determine the model, pitch, belt length (pitch length), centre-to-centre spacing, bandwidth of band with
And the parameter such as the principal and subordinate wheel number of teeth, diameter.And the maximum power P of existing known motor outputm=1.5w, motor speed 150rpm,
Gearratio is 1:1.Since power requirement is than relatively low under this condition, much smaller than the rated power of general toothed belt transmission.At the same time
Requirement in miniaturization, selects MXL type synchronous belts.For the versatility processed and purchased, select the number of teeth for 22 synchronous belt
Wheel.
The synchronous belt design example between motor and rolling, calculating process are as follows：
(1) pitch diameter of belt wheel is determined
d1=d2=Pbz/π
In formula：
D --- belt wheel pitch diameter, mm；
Pb--- synchronous belt pitch, wherein MXL types synchronization belt pitch are 2.032mm；
Z --- the belt wheel number of teeth, is herein 22；
Therefore：d1=d2=14.230mm.
(2) synchronous belt pitch length is determined
The pitch length of band is actually the synchronous belt nodel line girth around two belt wheels, is met：
Wherein：
Lp--- the pitch length of band, mm；
A --- two-wheeled centre-to-centre spacing, mm；
--- the angle of belt wheel and two-wheeled center line,
Especially, d is worked as1=d2=14.230mm,Centre-to-centre spacing takes a=76mm, can obtain：
Lp=196.704mm
Thus synchronous belt number of teeth z is calculatedb=Lp/pb=96.803mm.
According to ISO5296-78, conventional synchronous band number of teeth z is selectedb=95.Meanwhile calculate the physical length L of synchronous beltp=
193.04mm。
(3) synchronous belt centre-to-centre spacing is calculated
In synchronous belt pitch length LpAfter determining, according to formula：
Wherein：M=Pb(2zb-z1-z2)/8
It can obtain：A=74.168mm.
(4) synchronous belt design power P is determineddUnder required bandwidth
The benchmark rated power of MXL type synchronous belts：
P0=(Ta-mv2)v
In formula：
Ta=31N
M=0.010kg/m
So P0=3.47W>Pw, meet the requirement of design power.
Preferably, in order to improve the buffering effect of Lun Qu mechanisms 200, to be either clamped in bumps not in crawl object
Strengthen adaptability during flat surface, Lun Qu mechanisms 200 of the invention are further changed on the basis of the embodiment of Fig. 3
Into using multiple elastic components, such as the spring 208 of cylinder, by the first roller installing plate 201 and second tin roller installing plate 202
Wheel is elastically connected to drive on axle mount 204.In this way, in addition to the padded coaming of itself on 203 surface of roller, spring
208 can also provide extra buffering effect so that and robot more stablizes when clamping object, when being converted into transport condition, energy
Enough adapt to different surfaces.
Structure more than can be seen that to be particularly suitable for carrying out climbing fortune in frame structure using this robot hand
OK：After Lun Qu mechanisms 200 are clamped in the both sides of frame, roller 203 drives whole robot to be moved when rotating.In order to ensure
Whole paw is kept close to frame when operation, and robot hand of the invention further includes an empennage, its structure such as Fig. 6
It is shown.Fig. 6 seeks connections with the schematic diagram on a vertical frame 500 for robot hand.Tensioning mechanism 100 is by Liang Gelunqu mechanisms
200 are clamped to two opposite sides on frame 500.If roller 203 is directly run at this time, it is more likely that in the process of operation
The middle surface that robot hand is taken away to frame 500, in order to overcome this problem, tensioning mechanism 100 and Lun Qu mechanisms 200 it
Between, install an empennage 400, empennage 400 is one flat plate, the traffic direction of the plane where the tablet and roller 203 into
One angle a so that when the surface of 400 conformable frame 500 of empennage, the robot body direction of motion is directed toward frame 500
Inside, so as to be unlikely to depart from clamped body surface.
The robot hand of the present invention, by the basis of original jaw type paw, with reference to certain elastic rolling
Cylinder so that robot hand can improve flexibility and the mobility of itself on the basis of original holding capability is kept.Peace
The robot for having filled the present invention is particluarly suitable for being moved on truss.
It these are only the specific embodiment of the invention, it is impossible to the scope of the present invention is limited with this, in the art
The equivalent change that those skilled in the art are made according to this creation, and change known to those skilled in that art, all should still it belong to
The scope that the present invention covers.
Claims (6)
1. a kind of robot hand, it is characterised in that including tensioning mechanism (100) and Liang Gelunqu mechanisms (200), the tension
Mechanism (100) includes the linear motor and the first mounting bracket (101) and the second mounting bracket (102) of two same sizes；Described two
Platform linear motor is connected with first mounting bracket (101) and second mounting bracket (102) respectively；
The Liang Gelunqu mechanisms (200) are installed on first mounting bracket (101) and the second installation by rotation axis respectively
On frame (102)；Each Lun Qu mechanisms (200) include multiple rollers (203) for being used to drive the robot hand movement；
The Lun Qu mechanisms (200) include the first roller installing plate (201) and second tin roller installing plate (202) being oppositely arranged,
The first roller installing plate (201) and second tin roller installing plate (202) are linked into an integrated entity by fixing device；First rolling
Multiple rollers (203) have been mounted side by side between cylinder installing plate (201) and second tin roller installing plate (202)；Also set in fixing device
It is equipped with wheel and drives axle mount (204), the wheel drives axle mount (204) and is installed on first mounting bracket by rotation axis
(101) or on the second mounting bracket (102)；
The Lun Qu mechanisms (200), which further include, is fixed on the first roller installing plate (201) and second tin roller installing plate (202)
Between wheel drive motor (206), it is described wheel drive motor (206) drive synchronous pulley (207) rotate；The synchronous pulley (207)
It is sequentially connected by synchronous belt (205) and the roller (203)；
The synchronous pulley (207) and the synchronous belt (205) are equipped with teeth, the synchronous pulley (207) with it is described synchronous
Band (205) is intermeshed by teeth；
It is sequentially connected between the roller (203) by synchronous belt (205).
2. robot hand according to claim 1, it is characterised in that first mounting bracket (101) and the second installation
Be respectively equipped with frame (102) to the linear motor (105) direction extend to take over the baton (104), on the linear motor (105)
It is correspondingly provided with and wears and be connected in the butt hole with described pair of (104) matched butt hole of taking over the baton, described pair of (105) slip of taking over the baton.
3. robot hand according to claim 1 or 2, it is characterised in that the tensioning mechanism (100), which further includes, to be screwed on
On first mounting bracket (101) and the second mounting bracket (102), for adjusting first mounting bracket (101) and the second peace
Shelve the adjusting bolt (103) of (102) position.
4. robot hand according to claim 1, it is characterised in that be coated with fender on the outside of the roller (203)
Material.
5. robot hand according to claim 1, it is characterised in that the fixing device is installed with first roller
Plate (201), second tin roller installing plate (202) are connected by spring (208) elasticity.
6. robot hand according to claim 1, it is characterised in that further include installed in the tensioning mechanism (100)
Empennage (400) between Lun Qu mechanisms (200), the empennage (400) roll direction of advance with the roller (203) and form folder
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410521762.6A CN105522585B (en) | 2014-09-30 | 2014-09-30 | A kind of robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410521762.6A CN105522585B (en) | 2014-09-30 | 2014-09-30 | A kind of robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105522585A CN105522585A (en) | 2016-04-27 |
| CN105522585B true CN105522585B (en) | 2018-04-20 |
Family
ID=55765280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410521762.6A Active CN105522585B (en) | 2014-09-30 | 2014-09-30 | A kind of robot hand |
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| Country | Link |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202007010097U1 (en) * | 2006-10-03 | 2007-11-15 | Fanuc Robotics Europe S.A. | Industrial robots, in particular for part transfer between two presses |
| CN103273500A (en) * | 2013-05-10 | 2013-09-04 | 哈尔滨工程大学 | Overturning and climbing robot with two telescopic arms |
| CN203210370U (en) * | 2013-04-18 | 2013-09-25 | 岳强 | Novel robot gripper with multiple freedom degrees |
| CN203680285U (en) * | 2013-12-13 | 2014-07-02 | 南京工程学院 | Tower climbing robot |
-
2014
- 2014-09-30 CN CN201410521762.6A patent/CN105522585B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202007010097U1 (en) * | 2006-10-03 | 2007-11-15 | Fanuc Robotics Europe S.A. | Industrial robots, in particular for part transfer between two presses |
| CN203210370U (en) * | 2013-04-18 | 2013-09-25 | 岳强 | Novel robot gripper with multiple freedom degrees |
| CN103273500A (en) * | 2013-05-10 | 2013-09-04 | 哈尔滨工程大学 | Overturning and climbing robot with two telescopic arms |
| CN203680285U (en) * | 2013-12-13 | 2014-07-02 | 南京工程学院 | Tower climbing robot |
Non-Patent Citations (2)
| Title |
|---|
| A novel design of Movable Gripper for non-enclosable truss climbing;Wing Kwong Chung；Jiangbo Li；Yongquan Chen；Yangsheng Xu;《Robotics and Automation (ICRA), 2011 IEEE International Conference on》;20110513;第2559–2566页 * |
| A novel frame climbing robot: Frambot;Wing Kwong Chung；Yangsheng Xu;《Robotics and Biomimetics (ROBIO)，2011 IEEE International Conference on》;20111211;第519-525页 * |
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