CN108673549A - A kind of adaptive strain palm mechanism - Google Patents
A kind of adaptive strain palm mechanism Download PDFInfo
- Publication number
- CN108673549A CN108673549A CN201810492945.8A CN201810492945A CN108673549A CN 108673549 A CN108673549 A CN 108673549A CN 201810492945 A CN201810492945 A CN 201810492945A CN 108673549 A CN108673549 A CN 108673549A
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- CN
- China
- Prior art keywords
- backspin
- lead screw
- decelerating motor
- guiding axis
- motor
- 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.)
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Classifications
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of adaptive strains to slap mechanism, including main body module, upper rotary module, lower rotary module and rotation drive module；The beneficial effects of the invention are as follows：By the deformation of carpometacarpal mechanism, four finger paw Work Space Range of mechanical arm can be expanded, while the adjustment of crawl point can be carried out to object of different shapes；The change of four finger paw working spaces drives finger mount to move axially by lead screw decelerating motor, and inhibits finger mount that lead screw is followed to be rotated by two fixed guiding axis；When capturing object, it need to only control four motors and carry out same direction rotation, when discharging object, control motor carries out negative direction rotation, and simple in structure, working efficiency and reliability are higher.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of adaptive strain palm mechanism.
Background technology
The paw of mechanical arm is that mechanical arm establishes the important component contacted with operation object, connects the wrist of paw and mechanical arm
Palm mechanism directly determines the Work Space Range of paw.From rigid paw to flexible paw, special paw to multi-functional paw etc.,
The research about mechanical arm paw makes great progress both at home and abroad.However, the carpometacarpal of existing connection paw and mechanical arm
Mechanism is changeless mostly, when the larger object of shapes, the difference in size such as crawl sensitive paper box, fruits and vegetables, is needed by more
It changes gripper unit to be captured, reduces working efficiency；In addition, presently, there are Bian Zhang mechanisms, transmission is complicated, transmission efficiency
It is low, and reliability is poor.
Invention content
To solve the problems mentioned above in the background art.The present invention provides a kind of adaptive strains to slap mechanism, has spy
Point.
To achieve the above object, the present invention provides the following technical solutions：A kind of adaptive strain palm mechanism, including main body mould
Block, upper rotary module, lower rotary module and rotation drive module；The main body module is symmetrical form, including main part
Part, first motor seat and the second motor cabinet, the first lead screw decelerating motor and the second lead screw decelerating motor, the first finger mount and
Second finger installation part, first end part and second end part, the first guiding axis and the second guiding axis, first guiding axis and
One end of second guiding axis is respectively fixedly connected in the left and right ends of main element, and the motor part of the first lead screw decelerating motor is solid
It is scheduled on the end of main element, and is fixed by first motor seat, the motor part of the second lead screw decelerating motor is fixed on
The end of main element, and fixed by the second motor cabinet, the first lead screw decelerating motor and the second lead screw decelerating motor point
Intermediate space position in first guiding axis and the second guiding axis, the first end part and second end part point are not set
It is not fixed on the other end of the first guiding axis and the second guiding axis；
The upper rotary module include upper revolving part, upper rotation guiding axis, upper rotation lead screw decelerating motor, upper rotation motor cabinet, on
Rotation finger mount, upper rotation end piece, upper spin axis hold, upper rotation connecting pin, and upper one end for revolving guiding axis is fixed on revolving part, on
The motor part of rotation lead screw decelerating motor is fixedly installed in revolving part, is fixed by upper rotation motor cabinet, and upper rotation end piece is connected
In the end of upper rotation guiding axis, upper rotation connecting pin is fixed on rotation guiding axis；
The lower rotary module include lower revolving part, backspin guiding axis, backspin lead screw decelerating motor, backspin motor cabinet, under
Finger mount, backspin end piece, backspin bearing, backspin connecting pin are revolved, one end of backspin guiding axis is fixed on lower revolving part, under
The motor part of rotation lead screw decelerating motor is installed with lower revolving part, is fixed by backspin motor cabinet, and backspin end piece is connected
In the end of backspin guiding axis, backspin connecting pin is fixed on backspin guiding axis；
The main body module center is equipped with centre rotational axis, and the upper spin axis of upper rotary module, which is held, rotates on centre rotational axis,
The backspin bearing rotary of lower rotary module is located at the top of lower rotary module in centre rotational axis, upper rotary module；
The rotary module includes decelerating motor, upper cover, upper rotation connecting pin, connector, stressed plate, backspin connecting pin, is connected
Fitting is connect with decelerating motor, and for decelerating motor by the rotation of drive connection part, drive connection part side connects pin card with upper rotation
The upper rotation connecting pin for closing connection is rotated, the backspin connecting pin that another side of drive connection part is connected together with backspin connecting pin
It is rotated.
Preferably, first guiding axis, the second guiding axis, upper rotation guiding axis and backspin guiding axis are all made of double guiding axis
Structure.
Preferably, the first lead screw decelerating motor, the second lead screw decelerating motor, upper rotation lead screw decelerating motor, backspin silk
Bar decelerating motor is integrated by motor, retarder and lead screw.
Preferably, the first lead screw of lead screw decelerating motor decelerating motor, the second lead screw decelerating motor, upper rotation lead screw slow down
Motor, backspin lead screw decelerating motor and decelerating motor are all made of using miniature DC motor.
Preferably, fixed upper revolving part is rotated with upper rotation connecting pin on upper rotation connecting pin, is connect with upper revolving part
Upper rotation finger mount rotate with, fixed lower revolving part is rotated with backspin connecting pin on backspin connecting pin, under
The backspin finger mount of revolving part connection rotates with.
Compared with prior art, the beneficial effects of the invention are as follows：
1, by the deformation of carpometacarpal mechanism, four finger paw Work Space Range of mechanical arm can be expanded, while can be to not
The object of similar shape carries out the adjustment of crawl point；
2, the change of four finger paw working spaces drives finger mount to move axially by lead screw decelerating motor, and
Inhibit finger mount that lead screw is followed to be rotated by two fixed guiding axis.When capturing object, four only need to be controlled
Motor carries out same direction rotation；When discharging object, control motor carries out negative direction rotation；It is simple in structure, working efficiency
And reliability is higher；
3, the eccentric structure that the change of crawl point position is researched and developed using the present invention, by connecting pin in connector track
Movement, make revolving part that can be rotated around the axle center of main element with lower revolving part, to change finger grip point position
Change.
Description of the drawings
Fig. 1 is the shaft side figure of the adaptive strain palm mechanism.
Fig. 2 is the shaft side figure of the adaptive strain palm mechanism body module.
Fig. 3 is the shaft side figure of rotary module in the adaptive strain palm mechanism.
Fig. 4 is the shaft side figure of rotary module under the adaptive strain palm mechanism.
Fig. 5 is the shaft side figure of adaptive strain palm mechanism rotary module.
In figure：100, main body module；101, main element；102, first motor seat；103, the first lead screw decelerating motor；
104, the first finger mount；105, the first guiding axis；106, first end part；112, the second motor cabinet；113, the second lead screw
Decelerating motor；114, second finger installation part；115, the second guiding axis；116, second end part；200, upper rotary module；201、
Upper revolving part；202, upper rotation guiding axis；203, upper rotation finger mount；204, upper rotation lead screw decelerating motor；205, upper rotation end
Part；206, upper rotation motor cabinet；210, upper spin axis is held；300, lower rotary module；301, backspin end piece；302, backspin guiding axis；
303, backspin finger mount；304, backspin lead screw decelerating motor；305, lower revolving part；306, backspin motor cabinet；310, backspin
Bearing；400, drive module is rotated；401, decelerating motor；402, upper cover；403, upper rotation connecting pin；404, connector；405, by
Power plate；413, backspin connecting pin.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the present invention provides following technical scheme：A kind of adaptive strain palm mechanism, including main body module
100, upper rotary module 200, lower rotary module 300 and rotation drive module 400；Main body module 100 is symmetrical form, packet
Main element 101, first motor seat 102 and the second motor cabinet 112, the first lead screw decelerating motor 103 and the second lead screw is included to slow down
Motor 113, the first finger mount 104 and second finger installation part 114, first end part 106 and second end part 116,
One end of one guiding axis 105 and the second guiding axis 115, the first guiding axis 105 and the second guiding axis 115 is respectively fixedly connected in main part
The motor part of the left and right ends of part 101, the first lead screw decelerating motor 103 is fixed on the end of main element 101, and passes through
One motor cabinet 102 is fixed, and the motor part of the second lead screw decelerating motor 113 is fixed on the end of main element 101, and passes through the
Two motor cabinets 112 are fixed, and the first lead screw decelerating motor 103 and the second lead screw decelerating motor 113 are separately positioned on the first guiding axis
105 and second guiding axis 115 intermediate space position, first end part 106 and second end part 116 are respectively fixedly connected and are led in first
To the other end of axis 105 and the second guiding axis 115；
Upper rotary module 200 includes upper revolving part 201, upper rotation guiding axis 202, upper rotation lead screw decelerating motor 204, upper rotation electricity
Engine base 206, upper rotation finger mount 203, upper rotation end piece 205, upper spin axis hold 210, upper rotation connecting pin 403, upper rotation guiding axis
202 one end is fixed on revolving part 201, and the motor part of upper rotation lead screw decelerating motor 204 is fixedly installed in revolving part
201, it is fixed by upper rotation motor cabinet 206, upper rotation end piece 205 is fixed on the end of rotation guiding axis 202, upper rotation connecting pin
403 are fixed on rotation guiding axis 202；
Lower rotary module 300 includes lower revolving part 305, backspin guiding axis 302, backspin lead screw decelerating motor 304, backspin electricity
Engine base 306, backspin finger mount 303, backspin end piece 301, backspin bearing 310, backspin connecting pin 413, backspin guiding axis
302 one end is fixed on lower revolving part 305, and the motor part of backspin lead screw decelerating motor 304 is installed with lower revolving part
305, it is fixed by backspin motor cabinet 306, backspin end piece 301 is fixed on the end of backspin guiding axis 302, backspin connecting pin
413 are fixed on backspin guiding axis 302；
100 center of main body module is equipped with centre rotational axis, and the upper spin axis of upper rotary module 200 holds 210 and rotates on center rotation
The backspin bearing 310 of shaft, lower rotary module 300 rotates on centre rotational axis, and upper rotary module 200 is located at lower rotary module
300 top；
It includes decelerating motor 401, upper cover 402, upper rotation connecting pin 403, connector 404, stressed plate to rotate drive module 400
405, backspin connecting pin 413, connector 404 are connect with decelerating motor 401, the rotation that decelerating motor 401 passes through drive connection part 404
Turn, the upper rotation connecting pin 403 that 404 side of drive connection part is connected together with upper rotation connecting pin 403 is rotated, drive connection part
The backspin connecting pin 413 that 404 another sides are connected together with backspin connecting pin 413 is rotated.
First guiding axis 105, the second guiding axis 115, upper rotation guiding axis 202 and backspin guiding axis 302 are all made of double guiding
Axle construction.
First lead screw decelerating motor 103, the second lead screw decelerating motor 113, upper rotation lead screw decelerating motor 204, backspin lead screw
Decelerating motor 304 is integrated by motor, retarder and lead screw.
The first lead screw of lead screw decelerating motor decelerating motor 103, the second lead screw decelerating motor 113, upper rotation lead screw decelerating motor
204, backspin lead screw decelerating motor 304 and decelerating motor 401 are all made of using miniature DC motor.
Embodiment 1
As shown in Figs. 1-5, the carpometacarpal mechanism is by main body module 100, upper rotary module 200, lower rotary module 300 and rotation
Turn the composition of drive module 400.Four refer to and can be led along the first guiding axis 105, the second guiding axis 115, upper rotation guiding axis 202, backspin
It is moved to axis 302, to realize crawl and release object.Upper revolving part 201, lower revolving part 305 can be around main elements 101
Central shaft is rotated, to realize the adjustment of paw crawl point position.
Main element 101 passes on left first motor seat 102 and fixes the first lead screw decelerating motor 103, and two first are led
It is fixed on main element 101 to axis 105, and first end part 106 is fixed on the first guiding axis 105 by screw；The
One finger mount 104 is engaged by threaded hole with the first lead screw decelerating motor 103, and passes through unthreaded hole and the first guiding axis 105
Cooperation；When the first lead screw decelerating motor 103 rotates, the first finger mount 104 can be moved along the first guiding axis 105
It is dynamic；When 103 negative direction of the first lead screw decelerating motor rotates, the first finger mount 104 can be along 105 negative side of the first guiding axis
To movement.Similarly, the right side of main element 101, upper revolving part 201 in lower revolving part 305 the first finger mount 104, the
Two finger mounts 114, backspin finger mount 303 can be moved forward and backward；When control the first lead screw decelerating motor 103,
When the second lead screw decelerating motor 113, upper rotation lead screw decelerating motor 204, backspin lead screw 304 equidirectional rotation of decelerating motor, you can
Crawl or release object.
Upper cover 402 is connect by screw with main element 101, and upper cover 402 is by motor cabinet using bolt and nut two
Decelerating motor 401 is fixed, and connector 404 is fixed by screws on decelerating motor 401, can be rotated with decelerating motor 401,
Upper rotation connecting pin 403 by itself being threadedly secured on upper revolving part 201, and will thereon square set in connector 404.Work as deceleration
When motor 401 rotates, upper rotation connecting pin 403 can be rotated in the track of connector 404, thus drive upper revolving part 201
It is rotated around its axle center, upper revolving part 201 and main element 101 are concentric, therefore upper revolving part 201 can be around main element
101 axle center are rotated.Similarly, lower revolving part 305 can be carried out with the rotation of decelerating motor 401 around 101 axle center of main element
Rotation.According to this eccentric structure, rotating speed that can be by two decelerating motors 401 of control and direction of rotation change left and right two
The change of finger grip point.
To make upper revolving part 201 that can be rotated around 101 axle center of main element with lower revolving part 305, in upper revolving part
201,305 revolving part of lower revolving part installs upper spin axis additional and holds 210, backspin bearing 310, it is contemplated that the problem of stress, in main element
101 lower sections, install stressed plate 405 additional, are fixed by screws in 101 lower section of main element, while at 405 center of stressed plate, passing through
Screw is fixed on main element 101, bears power suffered when revolving part 201,305 revolving part of lower revolving part crawl object,
The power of object is scattered in main element 101, increases its service life, and enhances its reliability.
Upper cover 402 can be used for connecting mechanical arm tail end, the first finger mount 104, second finger installation part 114, upper rotation
Mechanical arm can be completed by four by this scheme for connecting four with finger in finger mount 203, backspin finger mount 303
Finger paw captures object different, that size difference is larger.
First lead screw decelerating motor 103 of adaptive strain palm mechanism use, the second lead screw decelerating motor 113, upper rotation
Lead screw decelerating motor 204, backspin lead screw decelerating motor 304 and two decelerating motors 401 are miniature DC motor, using L298N
Direct current generator drive module is controlled with STM32 microcontrollers.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. mechanism is slapped in a kind of adaptive strain, which is characterized in that including main body module (100), upper rotary module (200), lower rotation
Module (300) and rotation drive module (400)；The main body module (100) is symmetrical form, including main element
(101), first motor seat (102) and the second motor cabinet (112), the first lead screw decelerating motor (103) and the second lead screw slow down electric
Machine (113), the first finger mount (104) and second finger installation part (114), first end part (106) and second end part
(116), the first guiding axis (105) and the second guiding axis (115), first guiding axis (105) and the second guiding axis (115)
One end is respectively fixedly connected in the left and right ends of main element (101), and the motor part of the first lead screw decelerating motor (103) is fixed
End in main element (101), and, the electricity of the second lead screw decelerating motor (113) fixed by first motor seat (102)
Machine part is fixed on the end of main element (101), and fixed by the second motor cabinet (112), and first lead screw slows down electric
Machine (103) and the second lead screw decelerating motor (113) are separately positioned on first guiding axis (105) and the second guiding axis (115)
Intermediate space position, the first end part (106) and second end part (116) are respectively fixedly connected in the first guiding axis (105)
With the other end of the second guiding axis (115)；
The upper rotary module (200) includes upper revolving part (201), upper rotation guiding axis (202), upper rotation lead screw decelerating motor
(204), upper rotation motor cabinet (206), upper rotation finger mount (203), upper rotation end piece (205), upper spin axis hold (210), upper rotation
One end of connecting pin (403), upper rotation guiding axis (202) is fixed on revolving part (201), upper rotation lead screw decelerating motor (204)
Motor part is fixedly installed in revolving part (201), fixed by upper rotation motor cabinet (206), and upper rotation end piece (205) is fixed on
The end of upper rotation guiding axis (202), upper rotation connecting pin (403) are fixed on rotation guiding axis (202)；
The lower rotary module (300) includes lower revolving part (305), backspin guiding axis (302), backspin lead screw decelerating motor
(304), backspin motor cabinet (306), backspin finger mount (303), backspin end piece (301), backspin bearing (310), backspin
One end of connecting pin (413), backspin guiding axis (302) is fixed on lower revolving part (305), backspin lead screw decelerating motor (304)
Motor part is installed with lower revolving part (305), fixed by backspin motor cabinet (306), and backspin end piece (301) is fixed on
The end of backspin guiding axis (302), backspin connecting pin (413) are fixed on backspin guiding axis (302)；
Main body module (100) center is equipped with centre rotational axis, and the upper spin axis of upper rotary module (200) is held (210) and rotated on
The backspin bearing (310) of centre rotational axis, lower rotary module (300) rotates on centre rotational axis, and upper rotary module (200) is located at
The top of lower rotary module (300)；
The rotation drive module (400) includes decelerating motor (401), upper cover (402), upper rotation connecting pin (403), connector
(404), stressed plate (405), backspin connecting pin (413), connector (404) are connect with decelerating motor (401), decelerating motor
(401) by the rotation of drive connection part (404), drive connection part (404) side is connected together with upper rotation connecting pin (403)
Upper rotation connecting pin (403) is rotated, and drive connection part (404) another side is connected together down with backspin connecting pin (413)
Rotation connecting pin (413) is rotated.
2. mechanism is slapped in the adaptive strain of one kind according to claim 1, it is characterised in that：First guiding axis (105),
Two guiding axis (115), upper rotation guiding axis (202) and backspin guiding axis (302) are all made of double guiding axle construction.
3. mechanism is slapped in the adaptive strain of one kind according to claim 1, it is characterised in that：The first lead screw decelerating motor
(103), the second lead screw decelerating motor (113), upper rotation lead screw decelerating motor (204), backspin lead screw decelerating motor (304) are by electricity
Machine, retarder and lead screw are integrated.
4. mechanism is slapped in the adaptive strain of one kind according to claim 1, it is characterised in that：The lead screw decelerating motor first
Bar decelerating motor (103), the second lead screw decelerating motor (113), upper rotation lead screw decelerating motor (204), backspin lead screw decelerating motor
(304) it is all made of using miniature DC motor with decelerating motor (401).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492945.8A CN108673549A (en) | 2018-05-22 | 2018-05-22 | A kind of adaptive strain palm mechanism |
| CN201910083339.5A CN109483585A (en) | 2018-05-22 | 2019-01-28 | A kind of adaptive strain palm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810492945.8A CN108673549A (en) | 2018-05-22 | 2018-05-22 | A kind of adaptive strain palm mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108673549A true CN108673549A (en) | 2018-10-19 |
Family
ID=63807638
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810492945.8A Withdrawn CN108673549A (en) | 2018-05-22 | 2018-05-22 | A kind of adaptive strain palm mechanism |
| CN201910083339.5A Pending CN109483585A (en) | 2018-05-22 | 2019-01-28 | A kind of adaptive strain palm mechanism |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910083339.5A Pending CN109483585A (en) | 2018-05-22 | 2019-01-28 | A kind of adaptive strain palm mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108673549A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360865B (en) * | 2020-04-03 | 2021-04-20 | 江南大学 | Quick-change finger palm changing manipulator with finger root flexible shaft for transmission rotation and eccentric transposition |
| WO2023213564A1 (en) * | 2022-05-05 | 2023-11-09 | Bimba Llc | Robotic gripper |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202726024U (en) * | 2012-05-24 | 2013-02-13 | 东莞市隆盛压铸设备有限公司 | Arm for fluid feeding machine |
| JP5592915B2 (en) * | 2012-08-27 | 2014-09-17 | 本田技研工業株式会社 | Work gripping device |
| CN104908056B (en) * | 2015-06-29 | 2016-09-21 | 哈尔滨工业大学 | A kind of three finger mechanical paws of variable configuration |
| CN108544521A (en) * | 2016-12-22 | 2018-09-18 | 朱文祥 | A kind of Multi-shaft mechanical hand |
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
-
2018
- 2018-05-22 CN CN201810492945.8A patent/CN108673549A/en not_active Withdrawn
-
2019
- 2019-01-28 CN CN201910083339.5A patent/CN109483585A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN109483585A (en) | 2019-03-19 |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181019 |
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