CN105619437A - Modular two-degree-of-freedom gripper - Google Patents

Modular two-degree-of-freedom gripper Download PDF

Info

Publication number
CN105619437A
CN105619437A CN201410604451.6A CN201410604451A CN105619437A CN 105619437 A CN105619437 A CN 105619437A CN 201410604451 A CN201410604451 A CN 201410604451A CN 105619437 A CN105619437 A CN 105619437A
Authority
CN
China
Prior art keywords
clamping
steering wheel
screw mandrel
slide block
shell
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410604451.6A
Other languages
Chinese (zh)
Other versions
CN105619437B (en
Inventor
刘金国
姚博博
张赵威
向小林
刘志伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201410604451.6A priority Critical patent/CN105619437B/en
Publication of CN105619437A publication Critical patent/CN105619437A/en
Application granted granted Critical
Publication of CN105619437B publication Critical patent/CN105619437B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention relates to robot mechanisms, in particular to a modular two-degree-of-freedom gripper which comprises a rotating module and a clamping module. The rotating module comprises a rotating shell, a rotating steering engine, a rotating joint and a transmission mechanism. The rotating steering engine and a stator of the rotating joint are installed in the rotating shell. The output end of the rotating steering engine drives a rotor of the rotating joint to rotate through the transmission mechanism. The clamping module is connected with the rotor of the rotating joint and rotates along with the rotor of the rotating joint. The clamping module comprises a clamping shell, a clamping steering engine, a lead screw-sliding block mechanism, a supporting rack and clamping mechanisms symmetrically arranged on the two sides of the supporting rack. The clamping shell is connected to the rotor of the rotating joint. The clamping steering engine and the supporting rack are installed in the clamping shell. The clamping mechanisms on the two sides of the supporting rack are identical in structure and are both hinged to the supporting rack and a sliding block of the lead screw-sliding block mechanism. The modular two-degree-of-freedom gripper is of a modular structure, the size is small, the weight is low, the opening and closing range is wide, and clamping and self-locking can be achieved.

Description

A kind of modularity two-freedom hands is grabbed
Technical field
The present invention relates to robot mechanism, specifically a kind of modularity two-freedom hands is grabbed.
Background technology
The growth requirement of aircraft now, it is necessary to complete the task for stably arresting cooperative target and noncooperative target. For fixing mechanical arm, in order to complete the clamping operation of different size, it is necessary to change different end effector mechanisms. So that a kind of light-duty modular tip handgrip.
Summary of the invention
The problem needing to change different end Sao Hang mechanism in order to solve existing solid mechanical arm for different size clamping operation, it is an object of the invention to provide a kind of modularity two-freedom hands and grabs.
It is an object of the invention to be achieved through the following technical solutions:
The present invention includes rotary module and self-clamping module, wherein rotary module includes rotational shell and the rotation steering wheel being respectively contained in this rotational shell, cradle head and drive mechanism, the stator of described rotation steering wheel and cradle head is separately mounted in rotational shell, the outfan of this rotation steering wheel drives the rotor of described cradle head to rotate by described drive mechanism, and described self-clamping module is connected with the rotor of cradle head, rotates with the rotor of cradle head; Described self-clamping module includes clamping shell, clamping steering wheel, screw mandrel slide block mechanism, bracing frame and is symmetricly set on the clamping device of bracing frame both sides, this clamping shell is connected to the rotor of described cradle head, described clamping steering wheel and bracing frame are separately mounted in clamping shell, the described clamping device structure of these bracing frame both sides is identical, all being hinged with the slide block in this bracing frame and screw mandrel slide block mechanism, the outfan of described clamping steering wheel drives the described clamping device of both sides to synchronize clamping by screw mandrel slide block mechanism.
Wherein: described clamping device includes finger, first connecting rod and second connecting rod, the two ends of this first connecting rod are hingedly connected to finger and bracing frame, and one end of described second connecting rod is articulated with finger, and the other end is hingedly connected to bracing frame and slide block; The finger of the every side of support frame as described above, between first connecting rod and second connecting rod and bracing frame, it is respectively formed a double rocking lever quadric chain; The first connecting rod of the every side of support frame as described above and second connecting rod are arranged before and after the moving direction of slide block along screw mandrel slide block mechanism;
The outfan of described clamping steering wheel is connected with screw mandrel slide block mechanism by gear pair, this screw mandrel slide block mechanism includes the screw mandrel being rotatably installed on support frame as described above and the slide block being connected with wire rod thread, can moving along screw mandrel axial reciprocating, a gear in described gear pair with clamping steering wheel outfan be connected, another gear and described screw mandrel affixed and with one meshed transmission gear;
Described drive mechanism includes internal gear and external gear, this external gear is connected with the outfan of described rotation steering wheel, described internal gear is gear ring, rotor with described cradle head is connected, and the rotor of this cradle head is provided with the output link driving described self-clamping module to rotate; Described clamping shell is arranged on output link, is provided with the gripping base being fixed on described output link in this clamping shell, and described clamping steering wheel is fixed on this gripping base;
Being provided with the rotating base affixed with it in described rotational shell, described rotation steering wheel is fixed on this rotating base.
Advantages of the present invention and good effect be:
1. modular construction; The present invention adopts modular interface, and rotary module and self-clamping module can be arranged on the end of multi-motion mechanical arm easily, as actuator.
2. volume is little, lightweight; The present invention adopts clamping steering wheel driven gear pair, screw rod transmission, both can realize the motion of two-freedom, simultaneously simple and practical, utilizes simple structure just can reach the work purpose of demand.
3. clamping range big, can self-locking; The self-clamping module of the present invention adopts screw mandrel as transmission link, it may be achieved the amplification of twisting resistance and realize auto-lock function, and the design of the double rocking lever quadric chain of finger tip can realize large-scale clamping action.
Accompanying drawing explanation
Fig. 1 is the stereoscopic structural representation of the present invention;
Fig. 2 is one of internal structure schematic diagram of the present invention;
Fig. 3 is the two of internal structure schematic diagram of the present invention;
Fig. 4 is the transmission principle figure of retained part of the present invention;
Wherein: A is rotary module, B is self-clamping module, and 1 is finger, and 2 is first connecting rod, 3 is second connecting rod, and 4 is slide block, and 5 is bracing frame, 6 is screw mandrel, and 7 is gear pair, and 8 is clamping steering wheel, 9 is gripping base, and 10 is output link, and 11 is rotational shell, 12 is cradle head, and 13 is internal gear, and 14 is external gear, 15 for rotating steering wheel, and 16 is rotating base, and 17 is clamping shell.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As it is shown in figure 1, the present invention includes rotary module A and self-clamping module B, the two module makes the present invention have two degree of freedom. One is rotary module A, for driving the axial-rotation of follow-up load; Another is self-clamping module B, for the opening and closing of fingerhold mechanism.
As shown in Figure 2 and Figure 3, rotary module A includes rotational shell 11 and is respectively contained in the rotating base 16 in this rotational shell 11, rotation steering wheel 15, cradle head 12, output link 10 and drive mechanism, this drive mechanism is external tooth wheel set, including internal gear 13 and external gear 14. The stator of rotating base 16 and cradle head 12 is separately fixed in shell 11, rotates steering wheel 15 and is fixed on this rotating base 16; External gear 14 is connected to the outfan rotating steering wheel 15, and internal gear 13 is affixed with the rotor of cradle head 12 and output link 10, and internal gear 13 is gear ring and external gear 14 engaged transmission, drives output link 10 to rotate.
Self-clamping module B integral installation, on output link 10, rotates with output link 10. Self-clamping module B includes clamping shell 17, gripping base 9, clamping steering wheel 8, gear pair 7, screw mandrel slide block mechanism, bracing frame 5 and is symmetricly set on the clamping device of bracing frame 5 both sides, and screw mandrel slide block mechanism includes screw mandrel 6 and slide block 4; The clamping device structure of both sides is identical, all includes finger 1, first connecting rod 2 and second connecting rod 3. Clamping shell 17 is fixed on output link 10, is provided with the gripping base 9 being fixed on output link 10 in this clamping shell 17, and clamping steering wheel 8 is positioned at clamping shell 17, is fixed on this gripping base 9. Gear pair 7, screw mandrel 6, slide block 4 and bracing frame 5 are respectively positioned in clamping shell 17, and bracing frame 5 is fixed in clamping shell 17, and screw mandrel 6 is rotatably installed on bracing frame 5, and slide block 4 is threadeded with screw mandrel 6, can be moved along screw mandrel 6 axial reciprocating; A gear in gear pair 7 with clamping steering wheel 8 outfan be connected, another gear and screw mandrel 6 affixed and with one meshed transmission gear.
The finger 1 of the every side of bracing frame 5, being respectively formed a double rocking lever quadric chain between first connecting rod 2 and second connecting rod 3 and bracing frame 5, its effective clamping range can be �� 35���� 80mm.
The two ends of first connecting rod 2 are hingedly connected to finger 1 and bracing frame 5, and one end of second connecting rod 3 is articulated with finger 1, and the other end is hingedly connected to bracing frame 5 and slide block 4; The first connecting rod 2 of the every side of bracing frame 5 is arranged before and after the moving direction of slide block along screw mandrel slide block mechanism with second connecting rod 3. Clamping steering wheel 8 drives screw mandrel 6 to rotate by gear pair 7, with movable slider 4 moving axially along screw mandrel 6, by the angle of the position change second connecting rod 3 of slide block 4, thus changing the size of grasp opening, it is achieved the opening and closing of clamping device.
The operation principle of the present invention is:
As shown in Figure 4, when hands grab 1 need to capture object time, it is necessary first to allow rotary module A rotate and in one's hands grab 1 direction that can effectively grab object. Rotate steering wheel 15 and start work, drive external gear 14 and the internal gear 13 being engaged with; It is fixed on the internal gear 13 on cradle head 12 rotor, such that it is able to rotate relative to rotating base 16, and then drives the output link 10 being fixed on cradle head 12 rotor to rotate. After reaching the angle set, self-clamping module B starts action. Clamping steering wheel 8 starts work, screw mandrel 6 is driven to rotate by gear pair 7, thus producing relative slip with movable slider 4 with fixing support rack 5, the moving contact of slide block 4 drives the rotation of second connecting rod 3, thus driving the gearing of first connecting rod 2 and finger 1 in whole double rocking lever quadric chain; Namely two symmetrical fingers 1 can be movable relatively, it is possible to effectively clamp object. After clamping object, clamping steering wheel 8 can de-electrifying stop, and the effect of screw mandrel 6 and slide block 4 can be effectively realized Clamping and self-locking. Now, the rotation of rotary module A can drive clamping thing unitary rotation, is reversely rotated by clamping steering wheel 8 and just can unclamp clamping thing.

Claims (8)

1. a modularity two-freedom hands is grabbed, it is characterized in that: include rotary module (A) and self-clamping module (B), wherein rotary module (A) includes rotational shell (11) and the rotation steering wheel (15) being respectively contained in this rotational shell (11), cradle head (12) and drive mechanism, the stator of described rotation steering wheel (15) and cradle head (12) is separately mounted in rotational shell (11), the outfan of this rotation steering wheel (15) drives the rotor of described cradle head (12) to rotate by described drive mechanism, described self-clamping module (B) is connected with the rotor of cradle head (12), rotate with the rotor of cradle head (12), described self-clamping module (B) includes clamping shell (17), clamping steering wheel (8), screw mandrel slide block mechanism, bracing frame (5) and be symmetricly set on the clamping device of bracing frame (5) both sides, this clamping shell (7) is connected to the rotor of described cradle head (12), described clamping steering wheel (8) and bracing frame (5) are separately mounted in clamping shell (7), the described clamping device structure of this bracing frame (5) both sides is identical, all it is hinged with the slide block (4) in this bracing frame (5) and screw mandrel slide block mechanism, the outfan of described clamping steering wheel (8) drives the described clamping device of both sides to synchronize clamping by screw mandrel slide block mechanism.
2. grab by the modularity two-freedom hands described in claim 1, it is characterized in that: described clamping device includes finger (1), first connecting rod (2) and second connecting rod (3), the two ends of this first connecting rod (2) are hingedly connected to finger (1) and bracing frame (5), one end of described second connecting rod (3) is articulated with finger (1), and the other end is hingedly connected to bracing frame (5) and slide block (4).
3. grab by the modularity two-freedom hands described in claim 2, it is characterised in that: the every finger (1) of side of support frame as described above (5), between first connecting rod (2) and second connecting rod (3) and bracing frame (5), it is respectively formed a double rocking lever quadric chain.
4. grab by the modularity two-freedom hands described in claim 2, it is characterised in that: the first connecting rod (2) of the every side of support frame as described above (5) is arranged before and after the moving direction of slide block along screw mandrel slide block mechanism with second connecting rod (3).
5. by claim 1, modularity two-freedom hands described in 2 or 3 is grabbed, it is characterized in that: the outfan of described clamping steering wheel (8) is connected with screw mandrel slide block mechanism by gear pair (7), screw mandrel (6) that this screw mandrel slide block mechanism includes being rotatably installed on support frame as described above (5) and threadeding with screw mandrel (6), the slide block (4) that can move along screw mandrel (6) axial reciprocating, a gear in described gear pair (7) is connected with the outfan of clamping steering wheel (8), another gear is affixed with described screw mandrel (6), and with one meshed transmission gear.
6. grab by the modularity two-freedom hands described in claim 1,2 or 3, it is characterized in that: described drive mechanism includes internal gear (13) and external gear (14), this external gear (14) is connected with the outfan of described rotation steering wheel (15), described internal gear (13) is connected for the rotor of gear ring with described cradle head (12), and the rotor of this cradle head (12) is provided with the output link (10) driving described self-clamping module (B) to rotate.
7. grab by the modularity two-freedom hands described in claim 6, it is characterized in that: described clamping shell (17) is arranged in output link (10), being provided with the gripping base (9) being fixed on described output link (10) in this clamping shell (17), described clamping steering wheel (8) is fixed on this gripping base (9).
8. grab by the modularity two-freedom hands described in claim 1,2 or 3, it is characterized in that: being provided with the rotating base (16) affixed with it in described rotational shell (11), described rotation steering wheel (15) is fixed on this rotating base (16).
CN201410604451.6A 2014-10-31 2014-10-31 A kind of modularization two-freedom hand is grabbed Active CN105619437B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410604451.6A CN105619437B (en) 2014-10-31 2014-10-31 A kind of modularization two-freedom hand is grabbed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410604451.6A CN105619437B (en) 2014-10-31 2014-10-31 A kind of modularization two-freedom hand is grabbed

Publications (2)

Publication Number Publication Date
CN105619437A true CN105619437A (en) 2016-06-01
CN105619437B CN105619437B (en) 2018-01-23

Family

ID=56034972

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410604451.6A Active CN105619437B (en) 2014-10-31 2014-10-31 A kind of modularization two-freedom hand is grabbed

Country Status (1)

Country Link
CN (1) CN105619437B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139206A (en) * 2017-05-17 2017-09-08 巢湖学院 A kind of Posable rubbish picks up end effector
CN107568317A (en) * 2017-10-31 2018-01-12 浙江海洋大学 A kind of clamping device
CN108081301A (en) * 2016-11-22 2018-05-29 大邱庆北科学技术院 The removably general clamping jaw device of modular type
CN108656146A (en) * 2018-05-29 2018-10-16 北京航空航天大学 A kind of multi-functional three fingers mechanical paw of continuous rotation

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2796971Y (en) * 2005-04-21 2006-07-19 桂林电子工业学院 Mini type wire cutting mechanical hand
CN101439479A (en) * 2007-11-22 2009-05-27 Smc株式会社 Drive mechanism and gripper mechanism equipped with drive mechanism
JP2009297886A (en) * 2008-06-17 2009-12-24 Kitagawa Iron Works Co Ltd Workpiece gripping device
CN102101298A (en) * 2009-12-18 2011-06-22 中国科学院沈阳自动化研究所 Rotational joint module of modularized reconfigurable robot
JP2011156614A (en) * 2010-01-29 2011-08-18 B L Auto Tec Kk Robot hand
CN103056888A (en) * 2013-01-08 2013-04-24 深圳市硕安迪科技开发有限公司 Rotatable servo mechanical grabber
CN203804976U (en) * 2014-03-20 2014-09-03 西北工业大学 Truncated half cuboid modularized robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2796971Y (en) * 2005-04-21 2006-07-19 桂林电子工业学院 Mini type wire cutting mechanical hand
CN101439479A (en) * 2007-11-22 2009-05-27 Smc株式会社 Drive mechanism and gripper mechanism equipped with drive mechanism
JP2009297886A (en) * 2008-06-17 2009-12-24 Kitagawa Iron Works Co Ltd Workpiece gripping device
CN102101298A (en) * 2009-12-18 2011-06-22 中国科学院沈阳自动化研究所 Rotational joint module of modularized reconfigurable robot
JP2011156614A (en) * 2010-01-29 2011-08-18 B L Auto Tec Kk Robot hand
CN103056888A (en) * 2013-01-08 2013-04-24 深圳市硕安迪科技开发有限公司 Rotatable servo mechanical grabber
CN203804976U (en) * 2014-03-20 2014-09-03 西北工业大学 Truncated half cuboid modularized robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108081301A (en) * 2016-11-22 2018-05-29 大邱庆北科学技术院 The removably general clamping jaw device of modular type
CN107139206A (en) * 2017-05-17 2017-09-08 巢湖学院 A kind of Posable rubbish picks up end effector
CN107139206B (en) * 2017-05-17 2020-06-09 巢湖学院 Variable-posture garbage pickup end effector
CN107568317A (en) * 2017-10-31 2018-01-12 浙江海洋大学 A kind of clamping device
CN107568317B (en) * 2017-10-31 2020-04-21 浙江海洋大学 Clamping device
CN108656146A (en) * 2018-05-29 2018-10-16 北京航空航天大学 A kind of multi-functional three fingers mechanical paw of continuous rotation
CN108656146B (en) * 2018-05-29 2020-11-10 北京航空航天大学 Continuous-rotation multifunctional three-finger mechanical gripper

Also Published As

Publication number Publication date
CN105619437B (en) 2018-01-23

Similar Documents

Publication Publication Date Title
CN105619437A (en) Modular two-degree-of-freedom gripper
CN104908056A (en) Three-finger mechanical gripper with variable structure
CN104942818B (en) Seven-freedom-degree five-finger mechanical arm
WO2019140930A1 (en) Three-fingered robotic gripper having adaptive under-actuated steering
CN104669290A (en) Under-actuated spatial manipulator end effector
CN107511838B (en) Single-motor-driven double-thread underactuated multi-finger robot end effector and method
WO2019140931A1 (en) Self-adaptive underactuated robot clamping claw
CN105835077A (en) Parallel-clamping self-adaptive robot finger device with closed-loop flexible part and guide rod
CN108994864A (en) Double tendon rope tandem coupling adaptive finger apparatus
CN108189055B (en) Rack cosine telescopic straight-line parallel clamping self-adaptive finger device
CN105666508A (en) Rod-wheel combined type coupling self-adapting under-actuated robot finger device
CN108748235A (en) A kind of gripping robot easy to use
CN107932024A (en) A kind of clamping jaw
CN203680320U (en) Multi-freedom-degree robot arm
CN204935651U (en) Multi-joint manipulator
CN104511906B (en) Multi-joint manipulator
CN201534700U (en) Egg-turning unit and conveying mechanism
CN109176566A (en) The flat folder adaptive robot finger apparatus of gear sliding slot link linear
CN101628416B (en) Biarticulate sliding block type directly driving robot finger device with variable holding force
CN106272361B (en) It is a kind of that two flat one turn of Three Degree Of Freedom robot mechanisms can be achieved
KR20160064250A (en) Link-arm robot comprising wrist-axis
CN208246853U (en) A kind of manipulator
CN110802619A (en) Indirect self-adaptive robot finger device with upper and lower connecting rods clamped flatly
CN102873676B (en) Novel metamorphic mechanism
CN202170167U (en) Manipulator device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant