CN108656146B - Continuous-rotation multifunctional three-finger mechanical gripper - Google Patents
Continuous-rotation multifunctional three-finger mechanical gripper Download PDFInfo
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- CN108656146B CN108656146B CN201810529571.2A CN201810529571A CN108656146B CN 108656146 B CN108656146 B CN 108656146B CN 201810529571 A CN201810529571 A CN 201810529571A CN 108656146 B CN108656146 B CN 108656146B
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- finger
- mechanical
- push rod
- wrist
- lead screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses a continuous-rotation multifunctional three-finger mechanical paw, which comprises a wrist part and a paw part. A control system and a sensing system of the three-finger mechanical gripper are built on the basis of a physical mechanical mechanism. The wrist portion contains one rotational degree of freedom that is responsible for the rotation of the three finger paws. The paw part comprises an opening and closing freedom degree and is responsible for opening and closing the three-finger paw. The three-finger mechanical gripper control system part comprises two motor drivers. The sensing system is composed of two touch switches and is used for detecting the opening and closing limit positions of the paws. The invention also can realize the function similar to screwing the socket head cap screw by the socket head cap spanner through the mechanical structure design of the finger end head. The invention has the advantages that: the device has the functions of grabbing, operating and continuously rotating, and can realize the operating function of screwing the inner hexagon screw and the outer hexagon nut.
Description
Technical Field
The invention discloses a continuous rotation multifunctional three-finger mechanical paw, and belongs to the fields of robotics, mechanics, mechanical design and the like.
Background
A robot gripper is a robot part for gripping a workpiece or a tool, and is one of important robot actuators. The end effectors of robots are mainly classified into two types, one is a special gripper, and the other is a multi-finger dexterous hand of a human. The gripper may be classified as a special gripper. The mechanical gripper usually has one degree of freedom and two degrees of freedom, is generally driven by one or two motors, and has the advantages of relatively simple manufacture, relatively low cost and simple and reliable control. The dexterous hand with multiple fingers like a human has the disadvantages of multiple finger joints, multiple degrees of freedom, complex motion control, relatively difficult manufacture and relatively high cost. In industrial robot manufacturing, on the premise of meeting the required functions, cost is the most important consideration, and the control is simple and reliable, so that the mechanical gripper has great advantages in industrial manufacturing.
Currently, among the industrial robot gripper, typical representatives are a 2-finger gripper and a 3-finger gripper manufactured by Robotiq, canada. The Robotiq mechanical paw is mainly used for clamping metal parts, so that the clamping range and the clamping quality of the Robotiq mechanical paw are suitable for clamping the metal parts, when the Robotiq mechanical paw is used for clamping nonmetal parts or objects with large mass, small density and large volume, the clamping range and the clamping quality cannot meet the existing requirements, and the Robotiq mechanical paw has the defects of high price and incapability of realizing continuous rotation. At present, most of traditional mechanical claws on the market can not realize a continuous rotation function, and usually only realize an opening and closing function. In actual industrial production, some occasions require the mechanical gripper to rotate for 360 degrees continuously, and the requirement for the mechanical gripper to rotate for 360 degrees continuously is very strong.
The current practice in the industry is that the traditional mechanical gripper is matched with a wrist joint of a 6-degree-of-freedom tandem industrial mechanical arm to realize a rotation function, and a six-degree-of-freedom mechanical arm is expensive. For the mechanical gripper installed on the parallel mechanical arm, if the mechanical arm body is replaced by a three-degree-of-freedom DELTA mechanism used in the industry at present, the mechanical arm itself cannot realize continuous rotation, and then the traditional mechanical gripper cannot realize the rotation function. This problem is best solved if the gripper itself has one degree of freedom of rotation. The method for obtaining the rotational degree of freedom by mounting the mechanical gripper on the mechanical arm is generally realized in a conductive slip ring mode, namely realized in an electrical connection mode, so that the gripper motor wire is prevented from being twisted and broken in the rotating process. The invention realizes continuous whole-circle rotation of the paw through a mechanical structure.
For the current popular cooperative robot, if the mechanical gripper is provided with one rotation degree of freedom, the wrist part of the mechanical arm of the cooperative robot can be reduced by one rotation degree of freedom, the cost of the mechanical gripper provided by the invention for carrying the rotation degree of freedom is far lower than the cost of one wrist joint module of the mechanical arm, and the cost of the whole project can be reduced by a few degrees, so that the cooperative robot is more beneficial to enterprise production.
And most of the traditional mechanical claws can not realize the function of screwing the socket head cap screw at present. However, in actual industrial automation production, the production and assembly requirements for screwing the socket head cap screw do exist.
Disclosure of Invention
Aiming at the problems, the invention provides a continuous rotation multifunctional three-finger mechanical gripper which has the functions of grabbing, operating and continuous rotation. Meanwhile, on the basis of the traditional three-finger mechanical paw, the function similar to screwing the socket head cap screw by using a socket head cap spanner can be realized through the mechanical structure design of the finger end head.
The invention relates to a continuously rotating multifunctional three-finger mechanical paw, which comprises a wrist part of the three-finger mechanical paw, three mechanical fingers at the front end of the wrist part in the circumferential direction, a three-finger opening and closing driving mechanism and a wrist part rotating driving mechanism. The three-finger opening and closing driving mechanism and the wrist rotation driving mechanism are arranged on a stator shaft inside the wrist of the three-finger mechanical gripper and are respectively used for realizing the opening and closing actions of the three mechanical fingers and the rotation of the wrist of the three-finger mechanical gripper.
The front end faces of the finger ends of the three mechanical fingers are provided with protrusions, the front end faces of the protrusions are vertical planes, and the longitudinal sections of the protrusions are rhombic; when the three mechanical fingers are completely folded together, the adjacent side surfaces of the protrusions on the finger ends of the three mechanical fingers are attached to form the hexagonal socket head cap screw matching end with the regular hexagonal longitudinal section. Therefore, the function similar to screwing the socket head cap screw by a socket head cap spanner can be realized through the mechanical structure design of the finger end head. And the protrusions of the finger ends can adapt to socket head cap screws of different sizes along with the opening and closing sizes of the claws, so that the screwing function of the socket head cap screws of different sizes is realized. In a similar way, the inner end face of the finger end of the continuous-rotation multifunctional three-finger mechanical gripper can adapt to hexagonal bolts or hexagonal nuts with different sizes along with the opening and closing size of the gripper, so that the screwing function of the hexagonal bolts or the nuts is realized.
The invention has the advantages that:
1. the continuous rotation multifunctional three-finger mechanical claw has the functions of grabbing, operating and continuous rotation, wherein the grabbing function can be realized by opening and closing the three-finger mechanical claw, and the continuous full-circle rotation function can be realized by the mechanical design of the three-finger mechanical claw.
2. The multifunctional three-finger mechanical paw capable of continuously rotating can realize the operation function of screwing the socket head cap screw and the socket head cap nut and the function of pressing the switch by the special shape of the finger end when the three-finger mechanical paw is closed. Because the nut needs to rotate continuously in the whole circle in the actual operation of screwing the nut, the paw can realize the function of rotating continuously in the whole circle, and the industrial requirement is met. And the finger end head part and the inner end surface of the finger end of the mechanical claw can be opened and closed along with the claw, so that the screwing function of the hexagon socket screws and the hexagon nuts with different sizes is realized.
3. The continuous rotation multifunctional three-finger mechanical gripper has a compact integral structure and is simple to control.
4. The multifunctional three-finger mechanical gripper capable of continuously rotating is low in cost and convenient to popularize.
Drawings
FIG. 1 is a schematic view of the overall structure of a continuous rotation multifunctional three-finger mechanical gripper of the present invention;
FIG. 2 is a side cross-sectional view of a claw of the continuous rotary multi-functional three-finger manipulator of the present invention;
FIG. 3 is a schematic view of a continuously rotating multi-functional three-finger gripper according to the present invention in a closed state;
FIG. 4 is a schematic diagram of the continuous rotation multifunctional three-finger manipulator after the front end of the manipulator is assembled in a protruding manner when the manipulator is in a closed state.
In the figure:
1-three-finger mechanical gripper wrist 2-mechanical finger 3-three-finger opening and closing driving mechanism
4-wrist rotation driving mechanism 5-limit switch 6-wrist connecting piece
101-stator shaft 102-three-finger end cover 201-finger end
202-knuckle 201 a-protrusion 301-lead screw motor reducer
302-push rod connecting disc 303-lead screw push rod 304-finger push rod three-ear seat
305-finger push rod 306-limit switch pin 401-wrist motor
402-gear 403-gear ring end cover 404-wrist motor mounting rack
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a continuously rotating multifunctional three-finger mechanical gripper, which comprises a three-finger mechanical gripper wrist 1, mechanical fingers 2, a three-finger opening and closing driving mechanism 3 and a wrist rotation driving mechanism 4 as shown in figure 1. The wrist part 1 of the three-finger mechanical claw is of a cylindrical structure, and a stator shaft 101 is installed inside the wrist part through a bearing, as shown in FIG. 2; an annular three-finger end cover 102 is coaxially arranged on the front end face of the wrist part 1 of the three-finger mechanical gripper and is used for installing a mechanical finger 2. The number of the mechanical fingers 2 is three, the mechanical fingers are all of the existing four-bar linkage structure and are provided with finger ends 201 and finger joints 202, the front end parts of the wrist parts 1 of the three-finger mechanical gripper are arranged in a triangular symmetry mode, and the tail ends of the finger joints 202 are hinged to the three-finger end cover 102. The three mechanical fingers 2 are opened and closed by the three-finger opening and closing driving mechanism 3, and the wrist rotating driving mechanism 4 drives the three-finger mechanical hand to grab the wrist 1 to rotate continuously and completely.
The three-finger opening and closing driving mechanism 3 comprises a lead screw motor reducer 301, a push rod connecting disc 302, a lead screw push rod 303, a finger push rod three-ear seat 304 and a finger push rod 305. Wherein, screw motor reduction gear 301 is installed on stator axle 101, and the axis is parallel with stator axle 101. The push rod connecting disc 302 is fixedly sleeved on a lead screw nut part of the lead screw motor reducer 301. The axis of the screw rod pushing rod 303 is parallel to the stator shaft 101, the tail end of the screw rod pushing rod 303 is arranged in a hole in the pushing rod connecting disc 302, and the screw rod pushing rod 303 and the pushing rod connecting disc 302 are fixed through the matching of the limit switch pin shaft 306, the hole in the tail end of the screw rod pushing rod 303 and a shaft hole between the holes in the side wall of the pushing rod connecting disc 302. The front end of the lead screw push rod 303 is in bearing connection with the finger push rod three-lug seat 304 through two thrust bearings. The finger pushing rod three-ear seat 304 is provided with three hinge seats in the circumferential direction, the three hinge seats are respectively hinged with the tail ends of the three finger pushing rods 305, and the front ends of the three finger pushing rods 305 are respectively hinged with the middle parts of the knuckles 202 of the three mechanical fingers 2. Therefore, the lead screw motor reducer 301 is controlled to work through the lead screw motor driver, the lead screw motor reducer 301 drives the lead screw nut to move linearly, and the push rod connecting disc 302 is driven to move linearly; the push rod connecting disc 302 drives the lead screw push rod 303 to move linearly through the limit switch pin shaft 306, and the lead screw push rod 303 drives the swing of the knuckle 202 and the translation of the finger end 201 through the thrust bearing in combination with the finger push rod three-ear seat 304 and the finger push rod 305, so that the opening and closing movement of the three mechanical fingers 2 is realized.
In the invention, two miniature limit switches 5 are arranged in a stator shaft 101, wherein one limit switch 5 is positioned at the front end, a metal plectrum on the limit switch 5 is transversely arranged, the other limit switch 5 is positioned at the rear end, and the metal plectrum on the limit switch 5 is longitudinally arranged, so that the metal plectrums of the two limit switches 5 are respectively positioned on a forward moving path and a backward moving path of the tail end of a limit switch pin shaft 306, therefore, when a lead screw push rod 303 moves forwards and backwards, the limit switch pin shaft 306 on the lead screw push rod 303 touches the metal plectrums of the two limit switches 5 to trigger the two limit switches 5, and the control of the limit positions of three mechanical fingers 2 is realized.
The wrist rotation drive mechanism 4 includes a wrist motor 401, a gear 402, and a ring gear end cover 403. The axis of the wrist motor 401 is parallel to the stator shaft 101, and is mounted on the rear extension section designed on the stator shaft 101 through a wrist motor mounting frame 404. Meanwhile, the stator shaft 101 realizes the connection of the wrist part 1 of the three-finger mechanical gripper and the tail end of the mechanical arm through the wrist connecting piece 6. The output shaft of the wrist motor 401 is fixedly sleeved with a gear 402, and the gear 402 is meshed with an internal tooth structure of an annular gear ring end cover 403 fixedly arranged at the rear end of the wrist 1 of the three-finger mechanical gripper. Therefore, the wrist motor 401 is driven by the wrist motor 401 driver to rotate to drive the gear 402 to rotate, the gear 402 rotates to drive the gear ring end cover 403 to rotate, and the whole three-finger mechanical claw wrist part 1 is driven to rotate around the central axis of the stator shaft 101 due to the fixed relation between the gear ring end cover 403 and the three-finger mechanical claw wrist part 1, so that the three mechanical fingers 2 can continuously rotate; and the thrust bearing in the three-finger opening and closing driving mechanism 3 can avoid the influence of the torque of the finger push rod three-lug seat 304 on the motion of the lead screw push rod 303, isolate the influence of the linear motion of the lead screw push rod 303, ensure that the rotation of the three mechanical fingers 2 and the opening and closing motion of the three mechanical fingers 2 do not interfere with each other, and can continuously rotate while the three mechanical fingers 2 are in opening and closing motion.
In order to realize the function of screwing the socket head cap screw, the socket head cap screw and the external angle nut, the invention also designs the finger ends 201 of the three mechanical fingers 2, which are specifically as follows:
the finger ends 201 of the three mechanical fingers 2 are designed into a trapezoidal structure, and the rear ends are hinged with the front ends of the finger joints 202; the front end face of the finger end 201 is designed with a protrusion 201a, the front end face of the protrusion 201a is a vertical plane, and the longitudinal section is diamond-shaped. Therefore, when the three mechanical fingers 2 are completely folded together, the adjacent side surfaces of the protrusions 201a on the finger ends 201 of the three mechanical fingers 2 are attached to form the hexagon socket head cap screw matching end with the regular hexagonal longitudinal section and the same shape as the hexagon wrench, as shown in fig. 4. Meanwhile, the inner side surfaces of the finger ends 201 of the three mechanical fingers 2 are also designed with texture structures for increasing the friction force between the three mechanical fingers and the contact surface.
When the multifunctional three-finger mechanical paw is continuously rotated to screw the hexagon socket head cap screws, firstly, the lead screw motor reducer 301 is controlled to enable the lead screw push rod 303 to move forward, the three mechanical fingers 2 are driven to gradually fold until the limit switch pin shaft 306 touches the limit switch 5, at the moment, the three mechanical fingers 2 are completely folded, and as shown in fig. 3, the protrusions 201a on the finger ends 201 of the three mechanical fingers 2 are spliced to form the hexagon screw matching end. And then, the mechanical arm is controlled to insert the matched end of the hexagon screw into the socket hexagon screw, and at the moment, the wrist motor 401 is used for controlling the continuous rotation of the wrist 1 and the three mechanical fingers 2 of the three-finger mechanical gripper, so that the function of screwing the socket hexagon screw is realized. When screwing up hexagon socket head cap screw, the size that opens and shuts of three root mechanical fingers 2 of accessible control comes the hexagon longitudinal section size that the hexagon that forms of hexagon socket head cap screw cooperation end that forms between adjusting finger end 201, adapts to the hexagon socket head cap screw of unidimensional not to realize the function of screwing up to the hexagon socket head cap screw of unidimensional not. After the finger ends 201 of the three mechanical fingers 2 are inserted into the socket head cap screws, the contact between the outer side surfaces of the finger ends 201 and the socket head cap screws is judged by the torque mode of the controller of the lead screw motor reducer 301, and if the finger ends are contacted with the socket head cap screws, the current changes in the torque control mode.
When the multifunctional three-finger mechanical paw is continuously rotated to screw an outer hexagon screw and an outer hexagon nut, the lead screw motor reducer 301 is controlled to enable the lead screw push rod to move forwards, the three mechanical fingers 2 are driven to be gradually folded, until texture structures on the inner side surfaces of the finger ends 201 of the three mechanical fingers 2 are in contact with the outer hexagon screw or the outer hexagon nut in the circumferential direction, and the friction force between the circumferential directions of the nuts is increased. Subsequently, the wrist motor 201 controls the three-finger mechanical gripper wrist 1 and the three mechanical fingers 2 to continuously rotate, so that the function of screwing an outer hexagon screw or an outer hexagon nut is realized. The contact between the inner side surface of the finger end 201 of the three mechanical fingers 2 and the outer hexagon screw or the outer hexagon screw is judged by the torque mode of the controller of the screw motor reducer 301, and if the contact is detected, the torque control mode has current change.
Claims (4)
1. The utility model provides a rotate multi-functional three and indicate mechanical gripper in succession, includes three and indicates mechanical gripper wrist and three mechanical fingers of wrist front end circumference, its characterized in that: the three-finger opening and closing driving mechanism and the wrist rotation driving mechanism are arranged on a stator shaft inside the wrist of the three-finger mechanical gripper and are respectively used for realizing the opening and closing actions of the three mechanical fingers and the rotation of the wrist of the three-finger mechanical gripper;
the three-finger opening and closing driving mechanism comprises a lead screw motor reducer, a push rod connecting disc, a lead screw push rod, a finger push rod three-ear seat and a finger push rod; the lead screw nut part of the lead screw motor reducer is sleeved with a push rod connecting disc; the lead screw push rod is arranged on the push rod connecting disc; the front end of the lead screw push rod is sleeved with a finger push rod three-lug seat through a thrust bearing; the three-lug seat of the finger push rod is hinged with the three mechanical fingers through the three finger push rods in the circumferential direction; the lead screw motor reducer drives the push rod connecting disc and the lead screw push rod to move linearly, and then the three-ear seat of the finger push rod and the finger push rod are combined to drive the knuckle swinging of the three mechanical fingers and the finger end translation;
the front end faces of the finger ends of the three mechanical fingers are provided with protrusions, the front end faces of the protrusions are vertical planes, and the longitudinal sections of the protrusions are rhombus; when the three mechanical fingers are completely folded together, the adjacent side surfaces of the protrusions on the finger ends of the three mechanical fingers are attached to form the hexagonal socket head cap screw matching end with the regular hexagonal longitudinal section.
2. The continuous rotation multifunctional three-finger manipulator claw according to claim 1, characterized in that: the linear movement of the lead screw push rod is limited by a limit switch arranged in the wrist of the three-finger mechanical gripper.
3. The continuous rotation multifunctional three-finger manipulator claw according to claim 1, characterized in that: comprises a wrist motor, a gear and a gear ring end cover; wherein, the output shaft of the wrist motor is fixedly sleeved with a gear which is engaged with an internal tooth structure of a gear ring end cover arranged at the rear end of the wrist of the three-finger mechanical paw; therefore, the gear is driven to rotate through the rotation of the wrist motor, the gear rotates to drive the gear ring end cover to rotate, and finally the whole three-finger mechanical gripper wrist is driven to rotate.
4. The continuous rotation multifunctional three-finger manipulator claw according to claim 1, characterized in that: meanwhile, the inner side faces of the finger ends of the three mechanical fingers are designed with texture structures.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810529571.2A CN108656146B (en) | 2018-05-29 | 2018-05-29 | Continuous-rotation multifunctional three-finger mechanical gripper |
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| CN201810529571.2A CN108656146B (en) | 2018-05-29 | 2018-05-29 | Continuous-rotation multifunctional three-finger mechanical gripper |
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| CN108656146B true CN108656146B (en) | 2020-11-10 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109333576B (en) * | 2018-10-17 | 2020-10-23 | 北京控制工程研究所 | Tail end capturing gripper for space manipulator and capturing method |
| CN110027003A (en) * | 2019-04-19 | 2019-07-19 | 泸州开士乐工程技术有限责任公司 | A kind of multifunction manipulator |
| CN111618838A (en) * | 2019-11-11 | 2020-09-04 | 沈阳工业大学 | Snatch manipulator |
| CN111185897B (en) * | 2020-03-27 | 2023-06-27 | 苏州钧舵机器人有限公司 | Intelligent mechanical arm with rotation and clamping functions |
| CN113492415A (en) * | 2020-04-02 | 2021-10-12 | 虫极科技（北京）有限公司 | Clamping jaw |
| CN114750189A (en) * | 2022-04-06 | 2022-07-15 | 东北大学秦皇岛分校 | Size self-adaptive nut and bolt assembling manipulator |
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| CN108656146A (en) | 2018-10-16 |
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