CN105619437B - A kind of modularization two-freedom hand is grabbed - Google Patents
A kind of modularization two-freedom hand is grabbed Download PDFInfo
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- CN105619437B CN105619437B CN201410604451.6A CN201410604451A CN105619437B CN 105619437 B CN105619437 B CN 105619437B CN 201410604451 A CN201410604451 A CN 201410604451A CN 105619437 B CN105619437 B CN 105619437B
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- clamping
- steering wheel
- support frame
- screw mandrel
- cradle head
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Abstract
The present invention relates to robot mechanism, specifically a kind of modularization two-freedom hand is grabbed, including rotary module and self-clamping module, rotary module includes rotational shell, rotate steering wheel, cradle head and transmission mechanism, the stator of rotate steering wheel and cradle head is separately mounted in rotational shell, the output end of rotate steering wheel drives the rotor of cradle head to rotate by transmission mechanism, and self-clamping module is connected with the rotor of cradle head, rotated with the rotor of cradle head；Self-clamping module includes clamping shell, clamping steering wheel, screw mandrel slide block mechanism, support frame and the clamping device for being symmetricly set on support frame both sides, clamping shell is connected to the rotor of cradle head, clamping steering wheel and support frame are separately mounted in clamping shell, the clamping device structure of support frame both sides is identical, is hinged with the sliding block in support frame and screw mandrel slide block mechanism.The present invention has modular construction, small in volume, has larger opening and closing scope, and Clamping and self-locking can be achieved.
Description
Technical field
The present invention relates to robot mechanism, specifically a kind of modularization two-freedom hand is grabbed.
Background technology
The growth requirement of aircraft is, it is necessary to complete for stable the arresting cooperative target and noncooperative target of the task now.
For fixed mechanical arm, in order to complete the clamping operation of different size, it is necessary to change different end effector mechanisms.Thus need
Want a kind of light-duty modular tip handgrip.
The content of the invention
Need to change different end Sao Hang mechanisms for different size clamping operation to solve existing solid mechanical arm
Problem, it is an object of the invention to provide a kind of modularization two-freedom hand to grab.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes rotary module and self-clamping module, and wherein rotary module includes rotational shell and is respectively contained in the rotation
Turn rotate steering wheel, cradle head and the transmission mechanism in shell, the stator of the rotate steering wheel and cradle head is separately mounted to
In rotational shell, the output end of the rotate steering wheel drives the rotor of the cradle head to rotate by the transmission mechanism, described
Self-clamping module is connected with the rotor of cradle head, rotated with the rotor of cradle head；The self-clamping module includes clamping shell, folder
Steering wheel, screw mandrel slide block mechanism, support frame and the clamping device for being symmetricly set on support frame both sides are held, the clamping shell is connected to institute
State the rotor of cradle head, the clamping steering wheel and support frame are separately mounted in clamping shell, the support frame both sides it is described
Clamping device structure is identical, is hinged with the sliding block in the support frame and screw mandrel slide block mechanism, the output of the clamping steering wheel
End drives the clamping device of both sides synchronously to clamp by screw mandrel slide block mechanism.
Wherein：The clamping device includes finger, first connecting rod and second connecting rod, and the both ends of the first connecting rod are respectively articulated with
In finger and support frame, one end of the second connecting rod is articulated with finger, and the other end is hingedly connected to support frame and sliding block；It is described
Support frame is often respectively formed a double rocking lever quadric chain between the finger of side, first connecting rod and second connecting rod and support frame；It is described
First connecting rod of the support frame per side is set with second connecting rod along screw mandrel slide block mechanism before and after the moving direction of sliding block；
The output end of the clamping steering wheel is connected by gear pair with screw mandrel slide block mechanism, and the screw mandrel slide block mechanism includes turning
The dynamic screw mandrel being arranged on support frame as described above and the sliding block that is connected, can be moved along screw mandrel axial reciprocating with wire rod thread, the tooth
A gear in wheel set is connected with clamping the output end of steering wheel, another gear it is affixed with the screw mandrel and with it is one
Meshed transmission gear；
The transmission mechanism includes internal gear and external gear, and the external gear is connected with the output end of the rotate steering wheel, institute
State internal gear for gear ring, with the rotor of the cradle head to be connected, be provided with the rotor of the cradle head and drive the clamping
The output link of module rotation；The clamping shell is arranged on output link, is provided with the clamping shell and is fixed in institute
The gripping base on output link is stated, the clamping steering wheel is fixed on the gripping base；
The rotating base affixed with it is provided with the rotational shell, the rotate steering wheel is fixed on the rotating base.
Advantages of the present invention is with good effect：
1. modular construction；The present invention uses modular interface, and rotary module can easily be pacified with self-clamping module
Mounted in the end of multi-motion mechanical arm, as executing agency.
It is 2. small volume, in light weight；The present invention drives gear pair, screw rod transmission using clamping steering wheel, can both realize two freely
The motion of degree, at the same it is simple and practical, the work purpose of demand is just can reach using simple structure.
3. clamping range is big, can self-locking；Using screw mandrel, as transmission link, twisting resistance can be achieved in the self-clamping module of the present invention
Amplification and realize auto-lock function, and the design of the double rocking lever quadric chain of finger tip can realize on a large scale clamping make
With.
Brief description of the drawings
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, and B is self-clamping module, and 1 is finger, and 2 be first connecting rod, and 3 be second connecting rod, and 4 be sliding block,
5 be support frame, and 6 be screw mandrel, and 7 be gear pair, and 8 be clamping steering wheel, and 9 be gripping base, and 10 is outer for rotation for output link, 11
Shell, 12 be cradle head, and 13 be internal gear, and 14 be external gear, and 15 be rotate steering wheel, and 16 be rotating base, and 17 be clamping shell.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes rotary module A and self-clamping module B, the two modules make the present invention have two certainly
By spending.One is rotary module A, for driving the axial-rotation of follow-up load；Another is self-clamping module B, for finger clamp
Hold the opening and closing of mechanism.
As shown in Figure 2 and Figure 3, rotary module A includes rotational shell 11 and the rotation being respectively contained in the rotational shell 11
Pedestal 16, rotate steering wheel 15, cradle head 12, output link 10 and transmission mechanism, the transmission mechanism are external tooth wheel set, including
Internal gear 13 and external gear 14.Rotating base 16 and the stator of cradle head 12 are separately fixed in shell 11, rotate steering wheel 15
It is fixed on the rotating base 16；External gear 14 is connected to the output end of rotate steering wheel 15, internal gear 13 and cradle head 12
Rotor and output link 10 are affixed, and internal gear 13 is gear ring, revolved with the engaged transmission of external gear 14, drive output link 10
Turn.
Self-clamping module B integral installations rotate on output link 10 with output link 10.Self-clamping module B includes folder
Hold shell 17, gripping base 9, clamping steering wheel 8, gear pair 7, screw mandrel slide block mechanism, support frame 5 and be symmetricly set on support frame 5
The clamping device of both sides, screw mandrel slide block mechanism include screw mandrel 6 and sliding block 4；The clamping device structure of both sides is identical, including finger
1st, first connecting rod 2 and second connecting rod 3.Clamping shell 17 is fixed on output link 10, is provided with the clamping shell 17 affixed
Gripping base 9 on output link 10, clamping steering wheel 8 are located in clamping shell 17, are fixed on the gripping base 9.Tooth
Wheel set 7, screw mandrel 6, sliding block 4 and support frame 5 are respectively positioned in clamping shell 17, and support frame 5 is fixed in clamping shell 17, screw mandrel 6
It is rotatably installed on support frame 5, sliding block 4 is threadedly coupled with screw mandrel 6, can moved along the axial reciprocating of screw mandrel 6；One in gear pair 7
Individual gear is connected with clamping the output end of steering wheel 8, another gear and screw mandrel 6 it is affixed and with one meshed transmission gear.
Support frame 5 is often respectively formed a double rocking lever four between the finger 1 of side, first connecting rod 2 and second connecting rod 3 and support frame 5
Linkage, its effective clamping range can be 35~φ of φ 80mm.
The both ends of first connecting rod 2 are hingedly connected to finger 1 and support frame 5, and one end of second connecting rod 3 is articulated with finger 1, separately
One end is hingedly connected to support frame 5 and sliding block 4；First connecting rod 2 and second connecting rod 3 of the support frame 5 per side are along screw mandrel slide block mechanism
The moving direction of middle sliding block is front and rear to be set.Clamping steering wheel 8 is rotated by the drive screw 6 of gear pair 7, with movable slider 4 along screw mandrel 6
Axial movement, the angle of second connecting rod 3 is changed by the position of sliding block 4, so as to change the size of grasp opening, realizes clamping machine
The opening and closing of structure.
The present invention operation principle be：
As shown in figure 4, when hand grab 1 need capture object when, it is necessary first to allow rotary module A rotation it is in one's hands grab 1 can
Effectively grab the direction of object.Rotate steering wheel 15 starts work, drives external gear 14 and the internal gear 13 being engaged with；It is fixed
Internal gear 13 on the rotor of cradle head 12, so as to be rotated relative to rotating base 16, and then drive and be fixed on rotation
Output link 10 on the rotor of joint 12 rotates.After the angle for reaching setting, self-clamping module B starts to act.Clamp steering wheel 8
Start work, rotated by the drive screw 6 of gear pair 7, it is sliding so as to produce relative slip with movable slider 4 and fixing support rack 5
The moving contact of block 4 drives the rotation of second connecting rod 3, so as to drive first connecting rod 2 and hand in whole double rocking lever quadric chain
Refer to 1 gearing；Two symmetrical fingers 1 can be movable relatively, it is possible to effectively clamp object.Clamp object it
Afterwards, clamping steering wheel 8 can go electric stopping, and the effect of screw mandrel 6 and sliding block 4 can effectively realize Clamping and self-locking.Now, rotating mould
Block A rotation can drive clamping thing unitary rotation, and clamping steering wheel 8 is reversely rotated into can unclamps clamping thing.
Claims (6)
1. a kind of modularization two-freedom hand is grabbed, it is characterised in that：Including rotary module (A) and self-clamping module (B), wherein rotating
Module (A) includes rotational shell (11) and the rotate steering wheel (15) being respectively contained in the rotational shell (11), cradle head
(12) and transmission mechanism, the stator of the rotate steering wheel (15) and cradle head (12) is separately mounted in rotational shell (11),
The output end of the rotate steering wheel (15) drives the rotor of the cradle head (12) to rotate by the transmission mechanism, the clamping
Module (B) is connected with the rotor of cradle head (12), rotated with the rotor of cradle head (12)；The self-clamping module (B) includes
Clamping shell (17), clamping steering wheel (8), screw mandrel slide block mechanism, support frame (5) and the folder for being symmetricly set on support frame (5) both sides
Mechanism is held, the clamping shell (7) is connected to the rotor of the cradle head (12), the clamping steering wheel (8) and support frame (5) point
An Zhuan not be in clamping shell (7), the clamping device structure of support frame (5) both sides is identical, with the support frame (5) and
Sliding block (4) in screw mandrel slide block mechanism is hinged, and the output end of the clamping steering wheel (8) drives both sides by screw mandrel slide block mechanism
The clamping device synchronously clamp；
The clamping device includes finger (1), first connecting rod (2) and second connecting rod (3), the both ends difference of the first connecting rod (2)
Finger (1) and support frame (5) are articulated with, one end of the second connecting rod (3) is articulated with finger (1), and the other end is hingedly connected to
Support frame (5) and sliding block (4)；
Support frame as described above (5) is often respectively formed between the finger (1) of side, first connecting rod (2) and second connecting rod (3) and support frame (5)
One double rocking lever quadric chain.
2. the modularization two-freedom hand as described in claim 1 is grabbed, it is characterised in that：The first of the every side of support frame as described above (5)
Connecting rod (2) is set with second connecting rod (3) along screw mandrel slide block mechanism before and after the moving direction of sliding block.
3. the modularization two-freedom hand as described in claim 1 is grabbed, it is characterised in that：The output end of the clamping steering wheel (8)
It is connected by gear pair (7) with screw mandrel slide block mechanism, the screw mandrel slide block mechanism includes being rotatably installed on support frame as described above (5)
Screw mandrel (6) and the sliding block (4) that is threadedly coupled, can be moved along screw mandrel (6) axial reciprocating with screw mandrel (6), in the gear pair (7)
One gear is connected with the output end of clamping steering wheel (8), another gear and the screw mandrel (6) it is affixed and with one tooth
Take turns engaged transmission.
4. the modularization two-freedom hand as described in claim 1 is grabbed, it is characterised in that：The transmission mechanism includes internal gear
(13) and external gear (14), the external gear (14) are connected with the output end of the rotate steering wheel (15), and the internal gear (13) is
Gear ring, it is connected with the rotor of the cradle head (12), is provided with the rotor of the cradle head (12) and drives the clamping mould
The output link (10) of block (B) rotation.
5. the modularization two-freedom hand as described in claim 4 is grabbed, it is characterised in that：The clamping shell (17) is arranged on defeated
Go out on link (10), the gripping base (9) being fixed on the output link (10), institute are provided with the clamping shell (17)
Clamping steering wheel (8) is stated to be fixed on the gripping base (9).
6. the modularization two-freedom hand as described in claim 1 is grabbed, it is characterised in that：Be provided with the rotational shell (11) with
Its affixed rotating base (16), the rotate steering wheel (15) are fixed on the rotating base (16).
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 CN105619437A (en) | 2016-06-01 |
| CN105619437B true CN105619437B (en) | 2018-01-23 |
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| 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 |
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| Country | Link |
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| CN (1) | CN105619437B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102020907B1 (en) * | 2016-11-22 | 2019-09-11 | 재단법인대구경북과학기술원 | Detachable and attachable modular gripper for universal use |
| CN107139206B (en) * | 2017-05-17 | 2020-06-09 | 巢湖学院 | Variable-posture garbage pickup end effector |
| CN107568317B (en) * | 2017-10-31 | 2020-04-21 | 浙江海洋大学 | Clamping device |
| CN108145730B (en) * | 2018-02-28 | 2024-03-12 | 浙江机电职业技术学院 | Multi-angle grabbing mechanical claw and grabbing method thereof |
| CN108656146B (en) * | 2018-05-29 | 2020-11-10 | 北京航空航天大学 | Continuous-rotation multifunctional three-finger mechanical gripper |
| CN109664308B (en) * | 2018-12-18 | 2024-02-02 | 哈瓦国际航空技术（深圳）有限公司 | Explosive-handling manipulator |
| CN109391101B (en) * | 2018-12-24 | 2023-08-29 | 江苏朗信电气股份有限公司 | Stator assembly machine |
| CN113334410A (en) * | 2021-05-17 | 2021-09-03 | 东南大学 | Shovel type double-rocker mechanical gripper mechanism |
| CN114227742B (en) * | 2022-01-06 | 2023-08-29 | 中国科学技术大学 | Steering mechanical arm |
| CN116835315B (en) * | 2023-09-04 | 2023-11-10 | 山东阳光泰利科技有限公司 | Automatic conveying arm for automobile operating lever machining |
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| CN203804976U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Truncated half cuboid modularized robot |
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| JP2009297886A (en) * | 2008-06-17 | 2009-12-24 | Kitagawa Iron Works Co Ltd | Workpiece gripping device |
| JP5428097B2 (en) * | 2010-01-29 | 2014-02-26 | ビー・エル・オートテック株式会社 | Robot hand |
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|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN105619437A (en) | 2016-06-01 |
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