CN109093640A - The three-stage machine end actuator of modular reconfigurable - Google Patents
The three-stage machine end actuator of modular reconfigurable Download PDFInfo
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- CN109093640A CN109093640A CN201811301034.9A CN201811301034A CN109093640A CN 109093640 A CN109093640 A CN 109093640A CN 201811301034 A CN201811301034 A CN 201811301034A CN 109093640 A CN109093640 A CN 109093640A
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- finger
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 66
- 238000000034 method Methods 0.000 claims description 16
- 210000001145 finger joint Anatomy 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 4
- 230000011218 segmentation Effects 0.000 claims 2
- 230000003044 adaptive effect Effects 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 2
- 230000004048 modification Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 16
- 239000012636 effector Substances 0.000 description 6
- 230000006399 behavior Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of three-stage machine end actuators of modular reconfigurable, including three-stage finger and driving mechanism, wherein three-stage finger is by actuating arm, first transmission arm, second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle are constituted, one end of actuating arm is connect with driving mechanism, by pedestal, is supported two or more finger mounteds together.Three-stage finger of the invention realizes parallel crawl and envelope crawl without under clamp position, can forming a parallelogram, and then under the control of driving mechanism.Three-stage finger provided by the invention further improves the envelope function and grippage to object, and finger of the invention is modular construction, and the replaceable modification of pedestal meets different demands convenient for adaptive assembling.
Description
Technical field
The present invention relates to a kind of three-stage machine end actuators of modular reconfigurable, belong to intelligent robot end and hold
Row device technical field.
Background technique
Current existing end effector adaptive structure can be clamped by the flexible deformation of actuator finger material itself
Object, but its grasp force is smaller；And the end effector of rigidity be typically all simple two rigid fingers realize open in parallel and,
It has a single function, the end effector with adaptation function is considerably less.In adaptive actuator structure, two sections of finger adaptive structures
It is easier to realize.But segment is more under normal conditions, and finger is better to the envelope function of object, grippage is stronger, more holds
Easily carry out the grasping of rule and irregularly shaped object.
Summary of the invention
The purpose of the present invention is to provide a kind of three-stage machine end actuators of modular reconfigurable, improve to object
The envelope function and grippage of body, and modular finger structure is convenient for adaptive assembling.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
The three-stage machine end actuator of modular reconfigurable, including three-stage finger and driving mechanism；The three-stage hand
Refer to that, by actuating arm, the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and third knuckle are constituted；
One end of the actuating arm is connect with driving mechanism；The other end of the actuating arm is connect with the first transmission arm；Described
The other end of one transmission arm is connect with the lower end of the second transmission arm；
The upper end of second transmission arm is connect with the upper end of third transmission arm, and the middle lower end of second transmission arm refers to first
The upper end of section connects；The lower end of the third transmission arm and the middle-end of third knuckle connect；
The lower end of the first knuckle is connect with driving mechanism；The middle upper end of the first knuckle and the lower end of second knuckle connect
It connects；
The upper end of the second knuckle and the lower end of third knuckle connect；
The second torsional spring, the end that the second knuckle is connected with third knuckle are installed in the second knuckle and third knuckle junction
Portion is equipped with position-limit mechanism；Under no clamp position, by torsional spring active force and position-limiting action, second knuckle and third knuckle are integrated
Structure；
Without under clamp position, the middle lower end of second transmission arm, the both ends of third transmission arm, the lower end of second knuckle, four ends
Center is successively linked to be line and forms a parallelogram.
Driving mechanism above-mentioned is motor, and the actuating arm is connected to motor, and constitutes modularization three-stage finger structure；It is logical
Pedestal is crossed, by two, three or above modularization three-stage finger structure is installed together, and realizes parallel crawl and envelope
Crawl.
Two modularization three-stage finger structures are symmetrically installed on pedestal above-mentioned；The pedestal is by pedestal bottom plate, interior solid
Determine base and cover plate composition；The interior fixed pedestal is located at the middle position of pedestal bottom plate, by setting in interior fixed pedestal bottom
Positioning groove and positioning convex groove is set in the middle position of pedestal bottom plate, both makes to fasten；The left and right two of the interior fixed pedestal
Side is symmetrically installed the motor of modularization three-stage finger structure, and the motor is placed in motor casing；The cover board is placed in interior fixation
The top of pedestal；Mutually agree with the top size of interior fixed pedestal on the interior edge of the cover board；At left and right sides of the outer of the cover board
Button side is set respectively, at the top of the motor casing that the left and right sides is installed that links closely；It is each on the side of left and right two of the interior fixed pedestal
If a tongue, in motor casing close to slot is equipped on the side of interior fixed pedestal, for being inserted on interior fixed pedestal side
Tongue.
Driving mechanism above-mentioned is worm screw, Worm wheel transmission mechanism, and the worm screw connects motor, the left and right sides of the worm screw
Respectively one worm gear of engagement；The arm end of the actuating arm be it is discoid, be fixed on worm gear；Worm screw, worm gear and motor are assembled in
In one shell, the lower end of first knuckle is fixed on surface of shell, realizes parallel crawl and packet by two three-stage fingers
Network crawl.
Driving mechanism above-mentioned is differential gear, and the differential gear is by motor, two fixed pulleys and one
Movable pulley is constituted；The motor connects movable pulley, and described two fixed pulleys are located at the two sides of movable pulley, and are successively bypassed by rope
Fixed pulley, movable pulley and another fixed pulley；The actuating arm connects fixed pulley；The driving mechanism is assembled in a shell
It is interior, the lower end of first knuckle is fixed on surface of shell, realizes that parallel crawl and envelope grab by two three-stage fingers.
Driving mechanism above-mentioned is screw drive mechanism；The screw drive mechanism is by motor, lead screw and screw slider structure
At it is screw slider above the lead screw that the motor, which connects lead screw, and the screw slider each side fixes actuating arm；
The driving mechanism is assembled in a shell, and the lower end of first knuckle is fixed on surface of shell, passes through two three-stage hands
Refer to and realizes parallel crawl and envelope crawl.
Limited block is installed with the junction of the first transmission arm in the end of actuating arm above-mentioned；First transmission arm and drive
Swing arm junction is installed by the first torsional spring.
The position-limit mechanism of second knuckle above-mentioned and third knuckle junction are as follows: the end of second knuckle sets limiting slot, the
Strip is extended in the end of three finger joints, forms hard limit, matches with the limiting slot.
The detailed process above-mentioned grabbed in parallel are as follows: under no clamp position, by second knuckle and third knuckle junction
Torsional spring active force and position-limiting action, second knuckle and third knuckle are structure as a whole, at this time the middle lower end of the second transmission arm, third
The both ends of transmission arm, the lower end of second knuckle, four end centers are successively linked to be line and form a parallelogram；Actuator without
It is closed under clamp position, according to parallelogram principle, realizes the parallel crawl of actuator；
The detailed process of the envelope crawl are as follows:
1) without under clamp position, by second knuckle and third knuckle junction torsional spring active force and position-limiting action, second knuckle and
Third knuckle is structure as a whole, at this time the middle lower end of the second transmission arm, the both ends of third transmission arm, the lower end of second knuckle, and four
End center is successively linked to be line and forms a parallelogram；Three-stage finger starts to be closed under the action of the driving mechanism,
First knuckle touches in closing course be crawled object after stopping act；
2) envelope continues, until second knuckle touches stopping after being crawled object and acts；
3) envelope continues, and the movement of second knuckle stopping at this time, third knuckle continues to act, and second knuckle and third knuckle are de-
From torsional spring active force and position-limiting action, until third knuckle touches stopping after being crawled object and acts, holding action is completed.
The crawl of two segment envelopes and the crawl of three segment envelopes are supported in envelope crawl above-mentioned, and two segment envelopes are grabbed,
In the process of grasping, object is crawled not to be in contact with first knuckle.
The crawl of regular object and the crawl of irregularly shaped object are supported in envelope crawl above-mentioned, are carrying out grabbing for regular object
When taking, the motor synchronization action of modularization three-stage finger structure, when carrying out the crawl of irregularly shaped object, modularization three-stage
The motor asynchronous behavior of finger structure.
The crawl of regular object is only supported in envelope above-mentioned crawl, i.e. two three-stage fingers are kept strokes.
The envelope crawl of the direction above-mentioned for changing actuating arm by fixed pulley, implementation rule object and irregularly shaped object.
Advantageous effects of the invention:
The present invention provides the end effector of a kind of three-stage, adaptive finger structure, and the finger of three-stage further improves
To the envelope function and grippage of object.
Finger of the invention is modular construction, convenient for adaptive assembling, meets different demands.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three-stage end effector of robot of the invention；
Fig. 2 is pedestal bottom plate and interior fixed pedestal assembling schematic diagram；
Fig. 3 is covering plate structure schematic diagram；
Fig. 4 is cushion block structure schematic diagram；
Fig. 5 is cover board and cushion block assembling schematic diagram；
Fig. 6 is the actuator structure schematic diagram of worm screw, Worm wheel transmission mechanism；
Fig. 7 is the actuator structure schematic diagram of differential gear；
Fig. 8 is the actuator structure schematic diagram of screw drive mechanism；
Fig. 9 is parallel crawl process schematic；(a) it is the schematic diagram of open configuration, (b) is clamp position schematic diagram；
Figure 10 is that envelope grabs process schematic；(a) first knuckle and object contact schematic diagram when starting for crawl, are (b) the
Schematic diagram when two finger joints and object contact；(c) schematic diagram is completed for envelope movement；
Figure 11 is that regular object envelope grabs schematic diagram；(a) it grabs for two segment envelopes, (b) is grabbed for three segment envelopes；
Figure 12 is that irregularly shaped object envelope grabs schematic diagram；(a) it grabs for two segment envelopes, (b) is grabbed for three segment envelopes.
Specific embodiment
In order to make those skilled in the art that the present invention may be better understood, with reference to the accompanying drawings and examples to this hair
Bright technical solution further illustrates.
As shown in Figure 1, the three-stage machine end actuator of modular reconfigurable of the invention, including three-stage finger and
Driving mechanism；Wherein, three-stage finger is by actuating arm 1, and the first transmission arm 2, the second transmission arm 3, third transmission arm 4, first refers to
Section 5, second knuckle 6 and third knuckle 7 are constituted；Actuating arm is connect with driving mechanism 8.
Driving mechanism 8 in the present invention can be motor, and actuating arm 1 is connected to motor, and constitute modularization three-stage finger
Structure is supported two, three by limiting pedestal 9 or above modularization three-stage finger structure is installed together, in fact
Now parallel crawl and envelope crawl.By on the pedestal of Fig. 1 install two modularization three-stage finger structures for, to the present invention into
Row is described in detail.
Referring to Fig. 1,1 one end of actuating arm connects motor, and the other end is connect with the first transmission arm 2；First transmission arm 2 it is another
End is connect with the lower end of the second transmission arm 3；There are three connecting pin, the upper end of the second transmission arm 3 and thirds to be driven for second transmission arm 3
The upper end of arm 4 connects, and the middle lower end of the second transmission arm 3 is connect with the upper end of first knuckle 5；Third transmission arm 4 has upper and lower ends,
The lower end of third transmission arm 4 is connect with the middle-end of third knuckle 7.
There are three connecting pin, the lower end of first knuckle 5 is connect first knuckle 5 with driving mechanism 8, in first knuckle 5 on
End is connect with the lower end of second knuckle 6, and the upper end of first knuckle 5 is connect with the middle lower end of the second transmission arm 3.
Second knuckle 6 has upper and lower ends, and the upper end of second knuckle 6 is connect with the lower end of third knuckle 7.Third knuckle 7 has
Middle-end and lower end are connect with third transmission arm 4 and second knuckle 6 respectively.
Further, the second torsional spring is installed in second knuckle 6 and 7 junction of third knuckle, and in second knuckle 6 and the
The end that three finger joints 7 are connected sets position-limit mechanism；Make actuator under no clamp position, by torsional spring active force and position-limiting action,
Second knuckle 6 and third knuckle 7 are in integral structure；At this point, the middle lower end of the second transmission arm 3, the both ends of third transmission arm 4, the
The lower end of two finger joints 6, four end centers are successively linked to be line and form a parallelogram, and dotted line as shown in figure 1 constitutes parallel
Quadrilateral structure.
The specific structure of position-limit mechanism are as follows: the end of second knuckle sets limiting slot, and strip is extended in the end of third knuckle,
Hard limit is formed, is matched with the limiting slot.
Further, the first torsional spring is installed in the first transmission arm 2 and 1 junction of actuating arm, torsional spring provides torsion to protect
Structural configuration is held, two interconnecting pieces is made to realize adaptive movement.Meanwhile being to realize envelope movement, in the end of actuating arm, with the
Limited block is installed in the junction of one transmission arm, realizes that torsional spring is moved in restriction range.
Referring to figs. 2 and 3, pedestal is made of pedestal bottom plate 10, interior fixed pedestal 11 and cover board 12, wherein interior fixed base
Seat 11 is located at the middle position of pedestal bottom plate 10, in one modularization three-stage hand of each side installation of interior fixed pedestal 11
Refer to structure, cover board 12 is placed in the top of interior fixed pedestal 11 and by the modularization three-stage finger structure of the left and right sides and interior fixation
Pedestal 11 is fixed.
The middle position of pedestal bottom plate sets positioning convex groove, and for fixed interior fixed pedestal, the centre bit of pedestal bottom plate is installed
Threaded hole, for being fixed with cover board.Pin hole is set respectively in the left and right sides of pedestal bottom plate, is used for installation step pin.
Interior fixed pedestal is rectangular parallelepiped structure, and bottom is equipped with positioning groove, matches with the positioning convex groove of pedestal bottom plate,
Surrounding in interior fixed pedestal bottom sets threaded hole, and pedestal bottom plate also sets threaded hole, and the two is fixed by screw.Further,
A tongue 13 is also respectively set on the side of the left and right of interior fixed pedestal two, in motor casing close to setting on the side of interior fixed pedestal
There is slot, convenient for motor casing and interior fixed pedestal are fixed together.
Referring to Fig. 3, the interior edge of cover board is mutually agreed with the top size of interior fixed pedestal, at left and right sides of the outer of cover board respectively
If detaining side 14, at the top of the motor casing that the left and right sides is installed that links closely.The centre bit of cover board installs screw via hole, and two sides respectively set one
A screw hole.Further, cushion block, such as Fig. 4 are also installed in the top of cover board, and the top of cushion block is groove structure, on cushion block
If screw via hole and screw hole.Cushion block and cover board are fastened by screw, intermediate screw via hole is reserved.Cover board and cushion block assembling
Structure such as Fig. 5 afterwards.
Pedestal installation process is as follows:
Firstly, then being inserted into step pin on pedestal bottom plate is placed in interior fixed pedestal in the middle position of pedestal bottom plate, make to position
Tongue and positioning groove are knocked, and are subsequently fastened interior fixed pedestal and pedestal bottom plate with screw, cover board is not installed first.
Pedestal and modularization three-stage finger structure installation process are as follows: firstly, by the modularization three-stage finger in left side
Structure is installed on pedestal, slot when installation on the motor casing of modularization three-stage finger structure slide into from top to bottom in it is fixed
The tongue of side of base, and the step pin in the bottom circular aperture and pedestal of motor casing agrees with.Then, pacifying in the same way
Fill the modularization three-stage finger structure on right side.Again by the cover plate lid with cushion block at the top of interior fixed pedestal, operation, cover board
Reserved gap, motor casing and pedestal are fixed together at the top of the motor casing of button side insertion two sides at left and right sides of outer.Most
Afterwards, the screw via hole that screw is reserved from cover board middle position is inserted into, until the screw hole of pedestal bottom plate center, by cover board
It is fastened with pedestal.It is installed.Opposite process can realize dismounting.
Further, can on the basis of the present invention, by flexible design pedestal, can install three or
The modularization three-stage finger structure of more, to meet different demands.
As another preferred embodiment, driving mechanism of the invention is worm screw, Worm wheel transmission mechanism, referring to Fig. 6,
In, worm screw 15 connects motor, in one worm gear 16 of each side engagement of worm screw 15；The arm end of design driven arm is disk
Shape is fixed on worm gear；Worm screw, worm gear and motor are assembled in a shell, the lower end of first knuckle is fixed on shell
Surface, constituting tool, there are two the actuators of three-stage finger.The actuating arm of driving structure control is only capable of synchronizing movement,
Only it is able to achieve the crawl of parallel crawl and regular object.
As another preferred embodiment, driving mechanism of the invention is differential gear, referring to Fig. 7, differential gearing
Mechanism is made of motor, two fixed pulleys 17 and a movable pulley 18；Wherein, motor connects movable pulley 18, two fixed pulleys 17
Fixed pulley, movable pulley and another fixed pulley are successively bypassed positioned at the two sides of movable pulley 18, and by rope；By actuating arm 1 and determine
Pulley 17 connects, by the movement of fixed pulley control actuating arm.Further, which can be assembled in a shell,
The lower end of first knuckle is fixed on surface of shell, constituting tool, there are two the actuators of three-stage finger.The driving structure is only
The crawl of regular object and irregularly shaped object can be realized using a motor.
As another preferred embodiment, driving mechanism of the invention is screw drive mechanism, referring to Fig. 8, screw drive
Mechanism is made of motor, lead screw 19 and screw slider 20, wherein and motor connects lead screw 19, and lead screw 19 is screw slider 20 above,
Screw slider 20 each side fixes actuating arm 1.Further, which can be assembled in a shell, by
The lower end of one finger joint is fixed on surface of shell, and constituting tool, there are two the actuators of three-stage finger.Driving structure control
Actuating arm is only capable of synchronizing movement, i.e., is only able to achieve the crawl of parallel crawl and regular object.
End effector of the invention can realize that function includes parallel crawl and envelope crawl, it can be achieved that two segment envelopes are grabbed
It takes and is grabbed with three segment envelopes.
The realization of parallel crawl function is referring to Fig. 9 (a) and (b), and in figure, intermediate strip is the object being crawled.Fig. 9 (a)
For the schematic diagram for referring to open configuration, in figure, actuator under clamp position by second without, by torsional spring active force and position-limiting action, can referring to
Section and third knuckle integrator are regarded as single piece, indicate torsional spring power in figure at dark circles arrow, and circled amplification position is limited
At position, the middle lower end of the second transmission arm at this time, the both ends of third transmission arm, the lower end of second knuckle, the centers of four ends according to
The secondary line that is linked to be forms a parallelogram.Actuator is closed under no clamp position, is based on parallelogram principle, most
Parallel crawl is realized eventually, such as Fig. 9 (b).
Envelope grabs the realization of function referring to Figure 10 (a), (b) and (c), only shows what central axis side singly referred in figure
Crawl process, the other side realize that process is the same.In figure, irregular curve is the profile for being crawled object.Referring to Figure 10 (a),
Corresponding component stops after touching object in actuator closing course, and envelope function starts to execute, and the stain in figure is to touch a little,
Second knuckle and third knuckle are considered as integral structure under the action of limited block and torsional spring, meanwhile, the middle lower end of the second transmission arm,
The both ends of third transmission arm, the lower end of second knuckle, the center of four ends are successively linked to be line and form a parallelogram.With
The execution of envelope, the more multiposition of actuator, which touches, is crawled object, also, actuating arm and the first transmission arm are detached from limited block
Limitation, gradually open, in Figure 10 (b), occur second knuckle be crawled touching a little for object, parallelogram at this time
Structure still has.In Figure 10 (c), holding action is completed, at this point, the limit for the limited block that second knuckle and third knuckle are detached from
System, parallelogram state disappear, and third knuckle is touched with object is crawled, and actuating arm and the first transmission arm opening degree are more
Greatly, each component is finally acted and is finished, and envelope movement is completed, and success envelope clamps object.
For the modularization three-stage finger structure of the invention based on pedestal installation, since each finger is by an electricity
Machine independent control, each finger are independent of each other.For example, being symmetrical structure, then existing if the object being crawled is regular object
During crawl, the finger movement of two sides is completely the same, and the driving method of motor is also completely the same, such as Figure 11 (a) and (b) institute
Show, in figure, two singly refer between curve be the profile for being grabbed object, stain is the contact point for being grabbed object and finger joint.Two
The action process of finger is completely the same, the envelope crawl of implementation rule object.If the object being crawled is irregularly shaped object,
Structure is asymmetric, during envelope, finger be crawled position that object contacts and contact point is different from, then two fingers
Movement it is inconsistent, at this point, two motor asynchronous behaviors, control the movement of two fingers respectively.As shown in Figure 12 (a) and (b),
In figure, the curve between two fingers is the profile for being grabbed object, and stain is the contact point for being grabbed object and finger joint, can from figure
To find out, the movement of two fingers is different.
In addition, according to the shape for being crawled object, in the process of grasping, it is understood that there may be the crawl of two segment envelopes and three segments
Envelope crawl in this case, is crawled object in entire mistake for example, Figure 11 (a) and Figure 12 (a) is the crawl of two segment envelopes
Cheng Zhong is not contacted with first knuckle, and also there is no the contact points with first knuckle after the completion of the clamping of final envelope, only with
Second knuckle and third knuckle contact, this process are known as the crawl of two segment envelopes.Figure 11 (b) and Figure 12 (b) is three segment envelopes
Crawl, three finger joints all be crawled object and contact, play a role.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (13)
1. the three-stage machine end actuator of modular reconfigurable, which is characterized in that including three-stage finger and driving mechanism；
The three-stage finger is by actuating arm, the first transmission arm, the second transmission arm, third transmission arm, first knuckle, second knuckle and
Three finger joints are constituted；
One end of the actuating arm is connect with driving mechanism；The other end of the actuating arm is connect with the first transmission arm；Described
The other end of one transmission arm is connect with the lower end of the second transmission arm；
The upper end of second transmission arm is connect with the upper end of third transmission arm, and the middle lower end of second transmission arm refers to first
The upper end of section connects；The lower end of the third transmission arm and the middle-end of third knuckle connect；
The lower end of the first knuckle is connect with driving mechanism；The middle upper end of the first knuckle and the lower end of second knuckle connect
It connects；
The upper end of the second knuckle and the lower end of third knuckle connect；
The second torsional spring, the end that the second knuckle is connected with third knuckle are installed in the second knuckle and third knuckle junction
Portion is equipped with position-limit mechanism；Under no clamp position, by torsional spring active force and position-limiting action, second knuckle and third knuckle are integrated
Structure；
Without under clamp position, the middle lower end of second transmission arm, the both ends of third transmission arm, the lower end of second knuckle, four ends
Center is successively linked to be line and forms a parallelogram.
2. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that the drive
Motivation structure is motor, and the actuating arm is connected to motor, and constitutes modularization three-stage finger structure；By pedestal, by two, three
A or above modularization three-stage finger structure is installed together, and realizes parallel crawl and envelope crawl.
3. the three-stage machine end actuator of modular reconfigurable according to claim 2, which is characterized in that the base
Two modularization three-stage finger structures are symmetrically installed on seat；The pedestal is made of pedestal bottom plate, interior fixed pedestal and cover board；
The interior fixed pedestal is located at the middle position of pedestal bottom plate, by setting positioning groove and in pedestal in interior fixed pedestal bottom
The middle position of bottom plate sets positioning convex groove, fastens the two；Modularization three is symmetrically installed at left and right sides of the interior fixed pedestal
The motor of segmentation finger structure, the motor are placed in motor casing；The cover board is placed in the top of interior fixed pedestal；The cover board
Interior edge and the top size of interior fixed pedestal mutually agree with；It is set respectively at left and right sides of the outer of the cover board and buckles side, for linking closely
At the top of the motor casing of left and right sides installation；A tongue is respectively set on the side of left and right two of the interior fixed pedestal, in motor casing
It is equipped with slot close to the side of interior fixed pedestal, the tongue for being inserted on interior fixed pedestal side.
4. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that the drive
Motivation structure is worm screw, Worm wheel transmission mechanism, and the worm screw connects motor, one worm gear of each side engagement of the worm screw；
The arm end of the actuating arm be it is discoid, be fixed on worm gear；Worm screw, worm gear and motor are assembled in a shell, by
The lower end of one finger joint is fixed on surface of shell, realizes that parallel crawl and envelope grab by two three-stage fingers.
5. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that the drive
Motivation structure is differential gear, and the differential gear is made of motor, two fixed pulleys and a movable pulley；The electricity
Machine connects movable pulley, and described two fixed pulleys are located at the two sides of movable pulley, and successively bypasses fixed pulley by rope, movable pulley and separately
One fixed pulley；The actuating arm connects fixed pulley；The driving mechanism is assembled in a shell, by the lower end of first knuckle
It is fixed on surface of shell, realizes that parallel crawl and envelope grab by two three-stage fingers.
6. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that the drive
Motivation structure is screw drive mechanism；The screw drive mechanism is made of motor, lead screw and screw slider, the motor connecting filament
Thick stick, is screw slider above the lead screw, and the screw slider each side fixes actuating arm；The driving mechanism is assembled in
In one shell, the lower end of first knuckle is fixed on surface of shell, realizes parallel crawl and packet by two three-stage fingers
Network crawl.
7. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that the drive
Limited block is installed with the junction of the first transmission arm in the end of swing arm；First transmission arm and actuating arm junction installation the
One torsional spring.
8. the three-stage machine end actuator of modular reconfigurable according to claim 1, which is characterized in that described
The position-limit mechanism of two finger joints and third knuckle junction are as follows: the end of second knuckle sets limiting slot, and the end of third knuckle extends
Strip out forms hard limit, matches with the limiting slot.
9. according to the three-stage machine end actuator of modular reconfigurable described in claim 2,4,5 or 6, feature exists
In,
The detailed process grabbed in parallel are as follows: under no clamp position, made by second knuckle and third knuckle junction torsional spring
It is firmly structure as a whole with position-limiting action, second knuckle and third knuckle, at this time the middle lower end of the second transmission arm, third transmission arm
Both ends, the lower end of second knuckle, four end centers be successively linked to be line formed a parallelogram；Actuator is without clamping shape
It is closed under state, according to parallelogram principle, realizes the parallel crawl of actuator；
The detailed process of the envelope crawl are as follows:
1) without under clamp position, by second knuckle and third knuckle junction torsional spring active force and position-limiting action, second knuckle and
Third knuckle is structure as a whole, at this time the middle lower end of the second transmission arm, the both ends of third transmission arm, the lower end of second knuckle, and four
End center is successively linked to be line and forms a parallelogram；Three-stage finger starts to be closed under the action of the driving mechanism,
First knuckle touches in closing course be crawled object after stopping act；
2) envelope continues, until second knuckle touches stopping after being crawled object and acts；
3) envelope continues, and the movement of second knuckle stopping at this time, third knuckle continues to act, and second knuckle and third knuckle are de-
From torsional spring active force and position-limiting action, until third knuckle touches stopping after being crawled object and acts, holding action is completed.
10. the three-stage machine end actuator of modular reconfigurable according to claim 9, which is characterized in that described
The crawl of two segment envelopes and the crawl of three segment envelopes are supported in envelope crawl, and two segment envelopes are grabbed, in the process of grasping, quilt
Crawl object is not in contact with first knuckle.
11. the three-stage machine end actuator of modular reconfigurable according to claim 2, which is characterized in that described
The crawl of regular object and the crawl of irregularly shaped object are supported in envelope crawl, when carrying out the crawl of regular object, modularization three
The motor synchronization action of segmentation finger structure, when carrying out the crawl of irregularly shaped object, the electricity of modularization three-stage finger structure
Machine asynchronous behavior.
12. the three-stage machine end actuator of the modular reconfigurable according to claim 4 or 6, which is characterized in that institute
The crawl that regular object is only supported in envelope crawl is stated, i.e. two three-stage fingers are kept strokes.
13. the three-stage machine end actuator of modular reconfigurable according to claim 5, which is characterized in that pass through
Fixed pulley changes the direction of actuating arm, the envelope crawl of implementation rule object and irregularly shaped object.
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| CN109093640B (en) | 2024-03-29 |
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