CN111015635B - Walking and fetching composite function execution device for walking robot - Google Patents
Walking and fetching composite function execution device for walking robot Download PDFInfo
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- CN111015635B CN111015635B CN202010016001.0A CN202010016001A CN111015635B CN 111015635 B CN111015635 B CN 111015635B CN 202010016001 A CN202010016001 A CN 202010016001A CN 111015635 B CN111015635 B CN 111015635B
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention relates to a walking and fetching composite function execution device for a walking robot, which is used as a manipulator for grabbing an object, three knuckles can be sequentially attached to the upper part, the middle part and the lower part of the object under the driving of a motor to an active push rod, so that the object can be clamped and wrapped, a finger grabbing component with an underactuated structure can adaptively grab the objects with different shapes and sizes, the structure is simple and compact, the weight is light, the cost is low, and a lifting adjusting disc can change the size of an envelope space between the three finger grabbing components, so that the robot has stronger adaptability and flexibility when grabbing the object; when the support leg supports the ground, the wrist joint driving mechanism serves as the upper portion of the leg, supports and can drive the finger mechanism to rotate to adjust the posture during operation, the upper end of the screw rod can be in contact with the ground to serve as a foot of the support leg, the lifting adjusting disc is adjusted upwards, the fingers are driven outwards to be unfolded to grab and hold the assembly, the third finger joint is in contact with the ground to form auxiliary support, and the motion stability of the robot in operation is improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a walking and fetching composite function executing device for a walking robot.
Background
The manipulator is used as an important interface for interaction between the robot and the surrounding environment, and the flexible manipulator is an important component of the robot and has self-evident importance; among walking robots, particularly walking robots powered by a power source, reduction of energy consumption is an index to be considered particularly. Therefore, an underactuated manipulator with a small number of drive units and a small energy consumption is a preferable aspect in designing a walking robot. However, the motion and the grabbing force of each joint of the fully-driven manipulator are completely different from those of the fully-driven manipulator, and the motion of each joint of the under-driven manipulator is also influenced by the contact of a mechanical structure and the outside, so that the motion of fingers has extremely strong motion coupling, the fingertip track has uncertainty, and the under-driven manipulator is proved to be used for accurately grabbing objects; therefore, the problem to be solved urgently is solved on the premise of keeping the advantages of the under-actuated hand, and the flexibility and the firmness of the grabbing can be improved; the maximum space for forming envelopes among fingers of the existing under-actuated manipulator is fixed and cannot be adjusted, the capacity of adapting to the sizes of different objects when the under-actuated manipulator grabs the objects is limited, and the performance of the manipulator when the manipulator grabs is reduced.
In addition, for the multi-legged walking robot, in order to improve the motion operation performance, the function of the robot is changed from a simple walking platform to an integrated platform with certain functions of grabbing and conveying objects, which represents one direction of the development of the robot technology. The integration design of the walking function and the object grabbing function in a leg structure is a breakthrough direction of the design. The leg structure module with the hand-foot fusion function appears in the prior art, the leg structure module can not only complete the walking function of legs, but also realize the grabbing function of hands to objects, most typically, the clamp type hand-foot fusion function legs can be used as legs to walk after clamps are folded, the clamps can be used as hands to grab, the clamp type manipulator has a simple and reliable structure and can meet the basic function requirements, but the clamp type manipulator can clamp objects in a single shape when the clamp is used as the manipulator to grab, and the clamp type manipulator can slip when the clamp is used as the walking leg to support the robot to walk.
Disclosure of Invention
In order to solve the above problems, the present invention provides a walking and fetching complex function performing device for a walking robot.
The technical scheme of the invention is as follows: a walking and fetching composite function executing device for a walking robot is characterized in that: the device comprises a wrist joint driving mechanism and an under-actuated finger mechanism, wherein the wrist joint driving mechanism comprises a support, a wrist joint motor and two meshed bevel gears, the support is in a door shape integrally, a main shaft support is arranged at the upper end of the support, two symmetrical supporting arms are arranged on two sides of the main shaft support, a pair of mounting holes corresponding in position are formed in the upper parts of the two supporting arms, the wrist joint motor is mounted in the mounting hole on one side and fixed through a flange plate, an output shaft of the motor is positioned below a main shaft hole in the middle of the main shaft support, a coupler is fixed on the output shaft, a bevel gear seat is mounted in the mounting hole on the other side, a connecting flange plate is arranged at the inner end of the bevel gear seat and fixed with the supporting arms, a gear shaft extending into the support through a bearing and connected with the coupler on the output; a main shaft is arranged in the main shaft hole through a bearing, the lower end of the main shaft extends out of the lower end face of a main shaft support and is sleeved with a large bevel gear meshed with a small bevel gear below, the upper end of the main shaft extends out of the upper end face of the main shaft support, and a bearing cover plate sleeved on the main shaft is fixed on the top face of the support;
the under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies and a lead screw, wherein the three finger gripping assemblies are uniformly distributed on the upper part of the outer side surface of the rack shell, and the lead screw is coaxially sleeved in the rack shell; a lower end cover is fixed at the lower port of the frame shell, a connecting sleeve is arranged in the middle of the lower surface of the lower end cover, the upper end of the spindle is sleeved in the connecting sleeve and fixed through bolts, a motor support is fixed in the middle of the top surface of the lower end cover, a lead screw motor is installed in the motor support, a connecting section is arranged at the lower end of the lead screw and fixedly connected with an output shaft of the lead screw motor, a lead screw section is arranged at the upper end of the lead screw and extends out of the upper end surface of the frame shell, an annular lifting disc is sleeved on the lead screw section, three guide rods and three hinge seats are uniformly distributed on the outer side surface of the lifting disc, and the;
the upper end surface of the frame shell is vertically and uniformly provided with three limiting bosses and three guiding bosses, the distances between the adjacent limiting bosses and the guiding sliding blocks are the same, the middle of the end surface of each limiting boss is inwards provided with a positioning sliding groove along the axial direction, the middle of the upper part of each guiding boss is provided with a guiding hole along the radial direction, the guiding rods of the lifting disc are sleeved in the positioning sliding grooves in a matching manner to form a sliding pair, the bottom surface of the hinging seat is hinged with a first connecting rod, and the upper end of the first connecting rod is hinged with a second connecting rod which penetrates through the guiding holes to form the sliding pair;
the middle part of the outer side surface of the rack shell and the corresponding position of the guide boss are provided with a supporting seat, the upper end surface of the supporting seat is symmetrically and fixedly connected with a pair of rotating supports, the finger gripping assembly comprises a driving push rod, a first finger section, a second finger section and a third finger section, the lower end of the driving push rod is provided with a cross shaft which is rotatably connected between the two rotating supports, and one side of the supporting seat is fixedly provided with a driving assembly which is connected with the cross shaft; the second finger section is integrally triangular, a sliding cavity is formed in the inner side included angle of the second finger section, a hinge point A is formed in the outer side included angle, a hinge point B is formed in the lower included angle, a straight line section between the hinge point A and the hinge point B is a second clamping part, rectangular notches are formed in the two sides of the sliding cavity outwards, accommodating grooves are formed in the port of the sliding cavity, a driving sliding block is installed in the sliding cavity in a matched mode, a sliding shaft penetrates through the rectangular notches in the two sides to form a sliding pair, a spring A is connected between the inner end face of the driving sliding block and the bottom face of the sliding cavity, and the upper end of the driving push rod is hinged to the outer end of the; the first finger section is in a long rod shape, the lower end of the first finger section is hinged with the outer end of the second connecting rod which penetrates through the guide hole, the upper end of the first finger section is hinged with a hinge point B on the second finger section, and the inner side surface of the first finger section is a first clamping part; the third finger section is triangular, the included angle at the inner side of the third finger section is hinged with a hinge point A on the second finger section, two sides of the included angle at the upper part are hinged with a pair of push-pull connecting rods through fixed shaft pins, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, and a straight line section between the included angle at the inner side and the included angle at the outer side of the third finger section is a third clamping part.
Preferably, the upper portion of the inner side surface of the rack shell is provided with an inner rotating support, a bearing is installed in a bearing installation hole of the inner rotating support, a lower port of the bearing installation hole is provided with an annular limiting block, a connecting section at the lower end of the screw rod is sleeved in the bearing and is fixedly connected with an output shaft of the motor, and a bearing cover plate fixedly connected with the top surface of the inner rotating support is arranged in an upper port of the rack shell.
Preferably, the lower end of the driving push rod is provided with a transversely through spline groove, the transverse shaft is provided with a spline, and the driving push rod and the transverse shaft are fixedly connected through the spline and the spline groove.
Preferably, the driving assembly comprises a gear motor, a driving bevel gear and a driven bevel gear, the gear motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to the transverse shaft on the side corresponding to the gear motor, and the driving bevel gear is fixedly connected to an output shaft of the gear motor and meshed with the driven bevel gear.
Preferably, the driving push rod comprises a rotating support piece at the lower end and a telescopic shaft at the upper end, a cavity is arranged in the upper end face of the rotating support piece, the upper end of the telescopic shaft is hinged to the outer end of the driving sliding block, a stop block is arranged at the lower end of the telescopic shaft and sleeved in the cavity, a spring B is connected between the bottom surface of the stop block and the bottom surface of the cavity, a cover plate is fixed at a port of the cavity, a round hole matched with the telescopic shaft is formed in the middle of the cover plate, and a spring C is sleeved on the.
Preferably, the size of the round hole is matched with that of the telescopic shaft.
Preferably, the upper part of the supporting arm is provided with an external connection hole.
The beneficial technical effects of the invention are as follows:
the finger grasping assembly is in an underactuated structure formed by connecting three movable knuckles with the active push rod, when the finger grasping assembly is used as a mechanical arm to grasp an object, the three knuckles can be sequentially attached to the upper part, the middle part and the lower part of the object under the drive of the motor to the active push rod, so that the object can be clamped and wrapped, the finger grasping assembly in the underactuated structure can grasp the objects with different shapes and sizes in a self-adaptive manner, and the finger grasping assembly is simple and compact in structure, light in weight and low in cost; the lead screw of the envelope space adjusting assembly can drive the lifting adjusting disc to move up and down, so that the second connecting rod hinged with the lead screw can pull the first connecting rod to move radially in the guide hole to change the position of a radial fulcrum of the first knuckle, thereby changing the size of the envelope space between the three finger gripping assemblies and enabling the robot to have stronger adaptability and flexibility when gripping objects.
When the invention is used as a supporting leg to be supported on the ground, the wrist joint driving mechanism is used as the upper support of the leg, the under-actuated finger mechanism can be driven to rotate by the motor and the bevel gear to adjust the posture during operation, and the upper end of the screw rod can contact the ground to be used as the foot of the supporting leg. The third knuckle is brought into contact with the ground by adjusting the lift adjustment dial upward and driving the deployment finger grip assembly outward. At the moment, the motor drives the driving push rod and transmits force to the third finger joint through the first finger joint and the second finger joint, all the finger joints are in a fixed state, auxiliary support is completed, the stability of the robot when the robot is used as a supporting leg for supporting is improved, and the operation capacity of the robot is further improved.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a schematic perspective view of the under-actuated finger mechanism of the present invention;
FIG. 4 is a schematic perspective view of the finger grip assembly of the present invention;
FIG. 5 is a schematic cross-sectional view of the finger grip assembly of the present invention;
FIG. 6 is a schematic perspective view of a second finger section and a drive slide of the present invention;
FIG. 7 is a cross-sectional view of the slit of FIG. 6 taken along a second finger segment;
FIG. 8 is a schematic perspective view of the lift adjustment plate of the present invention;
FIG. 9 is a schematic perspective view of the robot of the present invention gripping an object;
FIG. 10 is a perspective view of the robot of the present invention supported to the ground with the three finger grip assemblies deployed as an auxiliary support.
001. Under-actuated finger mechanism, 01. frame shell, 11. lower end cover, 111. motor support, 12. limit boss, 121. limit chute, 13. guide boss, 131. guide hole, 14. support seat, 15. rotating support seat, 16. rotating support seat, 17. annular limit block, 18. bearing cover plate, 19. connecting sleeve, 21. screw rod, 22. screw rod motor, 23. lifting disk, 231. guide rod, 232. hinged seat, 24. first connecting rod, 25. second connecting rod, 03. finger grasping component, 31. driving push rod, 311. cross shaft, 312. rotating support, 3121. chamber, 313. telescopic shaft, 3131. stop, 314. spring B, 315. spring C, 32. first finger segment, 321. first grasping part, 33. second finger segment, 331. sliding cavity, 332. first hinge point, 333. hinge point B, 334. second grasping part, 335. square notch, 336. The automatic clutch comprises a containing groove, 34 driving sliders, 341 sliding shafts, 342 push-pull connecting rods, 35 third knuckles, 351 third clamping parts, 36 driving components, 361 driving bevel gears, 362 driven bevel gears, 37 spring A, 002 wrist joint driving mechanisms, 02 supports, 021 main shaft supports, 0211 main shaft holes, 022 supporting arms, 0221 outer connecting holes, 023 wrist joint motors, 0231 flange plates, 0232 couplers, 024 bevel gear seats, 0241 connecting flange plates, 0242 gear shafts, 0243 small bevel gears, 025 main shafts, 0251 large bevel gears and 026 bearing cover plates.
Detailed Description
First embodiment, referring to fig. 1 to 10 in the specification, a walking and fetching composite function executing device for a walking robot is characterized in that: the device comprises a wrist joint driving mechanism and an under-actuated finger mechanism, wherein the wrist joint driving mechanism comprises a support, a wrist joint motor and two meshed bevel gears, the support is integrally in a shape of a Chinese character 'men', a main shaft support is arranged at the upper end of the support, two symmetrical supporting arms are arranged on two sides of the main shaft support, a pair of mounting holes corresponding in position are formed in the upper parts of the two supporting arms, the wrist joint motor is mounted in the mounting hole in one side of the support and fixed through a flange, an output shaft of the motor is positioned below a main shaft hole in the middle of the main shaft support, a coupler is fixed on the output shaft, a bevel gear seat is mounted in the mounting hole in the other side of the support, a connecting flange is arranged at the inner end of the bevel gear seat and fixed with the supporting arms, a gear shaft extending into the support and connected with. The output shaft of the wrist joint motor drives the bevel pinion on the gear shaft to rotate through the coupler, and the driving mode of the bevel gear seat and the wrist joint motor improves the stability during transmission; the main shaft is arranged in the main shaft hole through a bearing, the lower end of the main shaft extends out of the lower end face of the main shaft support and is sleeved with a large bevel gear meshed with a small bevel gear below, the small bevel gear rotates to drive the large bevel gear to rotate, the upper end of the main shaft extends out of the upper end face of the main shaft support, a bearing cover plate sleeved on the main shaft is fixed on the top face of the support, and an outer connecting hole is formed in the lower portion of the support arm.
The under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies and a lead screw, wherein the three finger gripping assemblies are uniformly distributed on the upper part of the outer side surface of the rack shell, and the lead screw is coaxially sleeved in the rack shell; the lower end opening of the frame shell is fixed with a lower end cover, the middle of the lower surface of the lower end cover is provided with a connecting sleeve, and the upper end of the main shaft is sleeved in the connecting sleeve and fixed through a bolt, so that the wrist joint driving mechanism is used as the upper support of the legs, and the posture during operation can be adjusted by driving the under-actuated finger mechanism to rotate through the main shaft. A motor support is fixed in the middle of the top surface of the lower end cover, a lead screw motor is installed in the motor support, a connecting section is arranged at the lower end of a lead screw and is fixedly connected with an output shaft of the lead screw motor, a lead screw section is arranged at the upper end of the lead screw and extends out of the upper end surface of the frame shell, an annular lifting disc is sleeved on the lead screw section, the lead screw motor drives the lead screw to rotate so as to enable a lifting adjusting disc to move up and down, three guide rods and three hinge seats are uniformly distributed on the outer side surface of the lifting disc, and the distances between the;
three spacing bosss and three direction boss have been followed to the vertical equipartition of up end border of frame casing, interval between adjacent spacing boss and the direction slider is the same, inwards open along the axial in the middle of the terminal surface of spacing boss has the location spout, radially open in the middle of the upper portion of direction boss has the guiding hole, the embolia that the guide bar of above-mentioned lift dish matches forms the sliding pair in the spout of location, when lift adjustment dish reciprocated, the guide bar slided from top to bottom in spacing spout to the circumferencial direction location to lift adjustment dish, prevent that lift adjustment dish from rotating along with the lead screw. The bottom surface of the hinged seat is hinged with a first connecting rod, the upper end of the first connecting rod is hinged with a second connecting rod, the second connecting rod penetrates through the guide hole to form a sliding pair, and when the lifting adjusting disc moves up and down, the first connecting rod pulls the second connecting rod to move radially in the guide hole;
the middle part of the outer side surface of the rack shell and the corresponding position of the guide boss are provided with a supporting seat, the upper end surface of the supporting seat is symmetrically and fixedly connected with a pair of rotating supports, the finger gripping assembly comprises a driving push rod, a first finger section, a second finger section and a third finger section, the lower end of the driving push rod is provided with a cross shaft which is rotatably connected between the two rotating supports, one side of the supporting seat is fixedly provided with a driving assembly which is connected with the cross shaft, and the driving push rod is driven by the driving assembly to rotate between the two rotating supports; the second finger section is integrally triangular, a sliding cavity is formed in the inner corner of the second finger section, a hinge point A is arranged at the outer corner of the second finger section, a hinge point B is arranged at the lower corner of the second finger section, a straight line section between the hinge point A and the hinge point B is a second clamping part, rectangular notches are formed in the two sides of the sliding cavity outwards, accommodating grooves are formed in the port of the sliding cavity, a driving sliding block is installed in the sliding cavity in a matched mode, a sliding shaft penetrates through the rectangular notches in the two sides to form a sliding pair, a spring A is connected between the inner end face of the driving sliding block and the bottom face of the sliding cavity, and in the process of attaching the first finger section, the second finger section and the third finger section to an object, the second finger section and the third finger section are in a free state; after the second knuckle is attached and fixed with the object, under the continuous driving of the driving push rod, the driving slide block in the sliding cavity can slide inwards to compress the spring A, and the third knuckle is driven by the push-pull connecting rod to rotate inwards by taking the second knuckle as a fulcrum to be attached with the object.
The upper end of the driving push rod is hinged with the outer end of the driving slide block; the first finger section is in a long rod shape, the lower end of the first finger section is hinged with the outer end of the second connecting rod penetrating through the guide hole, the outer end of the second connecting rod is used as a fulcrum when the first finger section works, the radial position of the fulcrum of the first finger section can be changed when the second connecting rod moves in the guide hole in the radial direction, so that the size of an envelope space between the three finger gripping assemblies is changed, the upper end of the first finger section is hinged with a hinge point B on the second finger section, and the inner side surface of the first finger section is a first clamping part; the third finger section is triangular, the included angle at the inner side of the third finger section is hinged with a hinge point A on the second finger section, a pair of push-pull connecting rods are hinged to two sides of the included angle at the upper part of the third finger section through fixed shaft pins, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, after the first finger section and the second finger section rotate inwards and contact with an object and are static, the driving push rod drives the sliding block to move in the accommodating groove and compress the spring A, the driving slide pushes the push-pull connecting rods to drive the third finger section to rotate and grasp the object, and a straight line section between the included angle at the inner side and the included.
The upper portion of the inner side surface of the rack shell is provided with an inner rotating support, a bearing is installed in a bearing installation hole of the inner rotating support, a lower port of the bearing installation hole is provided with an annular limiting block, a connecting section of the lower end of a lead screw is sleeved in the bearing and is fixedly connected with an output shaft of a motor, and a bearing cover plate fixedly connected with the top surface of the inner rotating support is arranged in an upper port of the rack shell.
The lower extreme of initiative push rod is opened has the spline groove that transversely link up, is equipped with the spline on the cross axle, through spline and spline groove fixed connection between initiative push rod and the cross axle, is convenient for the finger through splined connection and grasps the installation and the dismantlement of subassembly, realizes the modularized design thinking, does benefit to the maintenance or the repacking in later stage.
The driving assembly comprises a gear motor, a driving bevel gear and a driven bevel gear, the gear motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to a cross shaft on the side corresponding to the gear motor, the driving bevel gear is fixedly connected with an output shaft of the gear motor and meshed with the driven bevel gear, and the bevel gear is longer in transmission life, higher in load bearing capacity and low in noise.
The driving push rod comprises a rotating support piece at the lower end and a telescopic shaft at the upper end, a cavity is formed in the upper end face of the rotating support piece, the upper end of the telescopic shaft is hinged with the outer end of the driving slide block, a stop block is arranged at the lower end of the telescopic shaft and sleeved in the cavity, a spring B is connected between the bottom surface of the stop block and the bottom surface of the cavity, a cover plate is fixed at the port of the cavity, a round hole matched with the telescopic shaft is formed in the middle of the cover plate, and a spring C is sleeved on; the size of the round hole is matched with that of the telescopic shaft.
The working process and principle of the invention are as follows:
a. when an object is grabbed, an envelope space formed among the three finger grabbing components corresponds to the object, the three driving push rods are synchronously driven to rotate through the motor and the bevel gear, the first knuckle rotates inwards by taking the first connecting rod as a fulcrum under the driving of the driving push rods, the first knuckle is attached to the upper part of the object and stops moving, in the process, the first knuckle, the second knuckle and the third knuckle are all in a free state, and the spring A, the spring B and the spring C cannot be compressed or stretched any more; the driving push rod is driven continuously, the second knuckle rotates inwards with the fixed first knuckle as a fulcrum to be attached to the middle of an object and stops moving, in the process, the second knuckle and the third knuckle are in a free state as a whole, the spring A keeps the original supporting state and cannot deform, and the first knuckle is fixed as a support, so that the spring C in the driving push rod is stretched and the spring B is compressed in the process; after the first knuckle and the second knuckle are attached to and fixed with an object, under the continuous driving of the driving push rod, the driving slide block in the sliding cavity can slide inwards to compress the spring A, and drives the third knuckle to rotate inwards by taking the second knuckle as a fulcrum through the push-pull connecting rod until the third knuckle is attached to the lower part of the object;
b. the lead screw of the envelope space adjusting assembly can drive the lifting adjusting disc to move up and down, so that the second connecting rod hinged with the lead screw can pull the first connecting rod to move radially in the guide hole to change the radial fulcrum position of the first knuckle, thereby changing the size of the envelope space between the three finger gripping assemblies and enabling the under-actuated finger mechanism to have stronger adaptability and flexibility when gripping an object;
c. when the support leg is supported on the ground, the wrist joint driving mechanism is used as the upper support of the leg, and the under-actuated finger mechanism can be driven to rotate through the motor and the bevel gear to adjust the posture during operation. The upper end of the screw rod contacts with the ground to serve as a foot of a supporting leg, and the lifting adjusting disc is adjusted upwards to enable the enveloping space between the finger gripping assemblies to be adjusted to the maximum, so that the unfolding angle of the finger gripping assemblies is improved;
d. the three finger grip assemblies are driven outward to expand to enable the third finger joint to be in contact with the ground, and the motor drives the driving push rod to transmit force to the third finger joint through the first finger joint and the second finger joint. Because the third finger joint is contacted and fixed with the ground, all the finger joints are in a fixed state to complete auxiliary support, the stability of the support leg support device is improved, and the operation capacity of the robot is further improved.
Claims (7)
1. A walking and fetching composite function executing device for a walking robot is characterized in that: the device comprises a wrist joint driving mechanism and an under-actuated finger mechanism, wherein the wrist joint driving mechanism comprises a support, a wrist joint motor and two meshed bevel gears, the support is in a door shape integrally, a main shaft support is arranged at the upper end of the support, two symmetrical supporting arms are arranged on two sides of the main shaft support, a pair of mounting holes corresponding in position are formed in the upper parts of the two supporting arms, the wrist joint motor is mounted in the mounting hole on one side and fixed through a flange plate, an output shaft of the motor is positioned below a main shaft hole in the middle of the main shaft support, a coupler is fixed on the output shaft, a bevel gear seat is mounted in the mounting hole on the other side, a connecting flange plate is arranged at the inner end of the bevel gear seat and fixed with the supporting arms, a gear shaft extending into the support through a bearing and connected with the coupler on the output; a main shaft is arranged in the main shaft hole through a bearing, the lower end of the main shaft extends out of the lower end face of a main shaft support and is sleeved with a large bevel gear meshed with a small bevel gear below, the upper end of the main shaft extends out of the upper end face of the main shaft support, and a bearing cover plate sleeved on the main shaft is fixed on the top face of the support;
the under-actuated finger mechanism comprises a cylindrical rack shell, three finger gripping assemblies and a lead screw, wherein the three finger gripping assemblies are uniformly distributed on the upper part of the outer side surface of the rack shell, and the lead screw is coaxially sleeved in the rack shell; a lower end cover is fixed at the lower port of the frame shell, a connecting sleeve is arranged in the middle of the lower surface of the lower end cover, the upper end of the spindle is sleeved in the connecting sleeve and fixed through bolts, a motor support is fixed in the middle of the top surface of the lower end cover, a lead screw motor is installed in the motor support, a connecting section is arranged at the lower end of the lead screw and fixedly connected with an output shaft of the lead screw motor, a lead screw section is arranged at the upper end of the lead screw and extends out of the upper end surface of the frame shell, an annular lifting disc is sleeved on the lead screw section, three guide rods and three hinge seats are uniformly distributed on the outer side surface of the lifting disc, and the;
the upper end surface of the frame shell is vertically and uniformly provided with three limiting bosses and three guiding bosses, the distances between the adjacent limiting bosses and the guiding sliding blocks are the same, the middle of the end surface of each limiting boss is inwards provided with a positioning sliding groove along the axial direction, the middle of the upper part of each guiding boss is provided with a guiding hole along the radial direction, the guiding rods of the lifting disc are sleeved in the positioning sliding grooves in a matching manner to form a sliding pair, the bottom surface of the hinging seat is hinged with a first connecting rod, and the upper end of the first connecting rod is hinged with a second connecting rod which penetrates through the guiding holes to form the sliding pair;
the middle part of the outer side surface of the rack shell and the corresponding position of the guide boss are provided with a supporting seat, the upper end surface of the supporting seat is symmetrically and fixedly connected with a pair of rotating supports, the finger gripping assembly comprises a driving push rod, a first finger section, a second finger section and a third finger section, the lower end of the driving push rod is provided with a cross shaft which is rotatably connected between the two rotating supports, and one side of the supporting seat is fixedly provided with a driving assembly which is connected with the cross shaft; the second finger section is integrally triangular, a sliding cavity is formed in the inner side included angle of the second finger section, a hinge point A is formed in the outer side included angle, a hinge point B is formed in the lower included angle, a straight line section between the hinge point A and the hinge point B is a second clamping part, rectangular notches are formed in the two sides of the sliding cavity outwards, accommodating grooves are formed in the port of the sliding cavity, a driving sliding block is installed in the sliding cavity in a matched mode, a sliding shaft penetrates through the rectangular notches in the two sides to form a sliding pair, a spring A is connected between the inner end face of the driving sliding block and the bottom face of the sliding cavity, and the upper end of the driving push rod is hinged to the outer end of the; the first finger section is in a long rod shape, the lower end of the first finger section is hinged with the outer end of the second connecting rod which penetrates through the guide hole, the upper end of the first finger section is hinged with a hinge point B on the second finger section, and the inner side surface of the first finger section is a first clamping part; the third finger section is triangular, the included angle at the inner side of the third finger section is hinged with a hinge point A on the second finger section, two sides of the included angle at the upper part are hinged with a pair of push-pull connecting rods through fixed shaft pins, the other ends of the two push-pull connecting rods are respectively rotatably connected with the two sliding shafts extending out of the rectangular notches, and a straight line section between the included angle at the inner side and the included angle at the outer side of the third finger section is a third clamping part.
2. The walking and fetching complex function performing device for the walking robot as claimed in claim 1, wherein: the upper portion of the inner side surface of the rack shell is provided with an inner rotating support, a bearing is installed in a bearing installation hole of the inner rotating support, a lower port of the bearing installation hole is provided with an annular limiting block, a connecting section of the lower end of a lead screw is sleeved in the bearing and is fixedly connected with an output shaft of a motor, and a bearing cover plate fixedly connected with the top surface of the inner rotating support is arranged in an upper port of the rack shell.
3. The walking and fetching complex function performing device for the walking robot as claimed in claim 2, wherein: the lower end of the driving push rod is provided with a transversely through spline groove, the transverse shaft is provided with a spline, and the driving push rod and the transverse shaft are fixedly connected through the spline and the spline groove.
4. The walking and fetching complex function performing device for the walking robot as claimed in claim 1, wherein: the driving assembly comprises a gear motor, a driving bevel gear and a driven bevel gear, the gear motor is fixedly connected to one side of the supporting seat through a support, the driven bevel gear is fixedly connected to the cross shaft of the side corresponding to the gear motor, and the driving bevel gear is fixedly connected with an output shaft of the gear motor and meshed with the driven bevel gear.
5. The walking and fetching complex function performing device for the walking robot as claimed in claim 1, wherein: the driving push rod comprises a rotating support piece at the lower end and a telescopic shaft at the upper end, a cavity is arranged in the upper end face of the rotating support piece, the upper end of the telescopic shaft is hinged to the outer end of the driving sliding block, a stop block is arranged at the lower end of the telescopic shaft and sleeved in the cavity, a spring B is connected between the bottom surface of the stop block and the bottom surface of the cavity, a cover plate is fixed to a port of the cavity, a round hole matched with the telescopic shaft is formed in the middle of the cover plate, and a spring C is sleeved on.
6. The walking and fetching complex function performing device for the walking robot as claimed in claim 5, wherein: the size of the round hole is matched with that of the telescopic shaft.
7. The walking and fetching complex function performing device for the walking robot as claimed in claim 1, wherein: the upper part of the supporting arm is provided with an outer connecting hole.
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| CN202010016001.0A CN111015635B (en) | 2020-01-08 | 2020-01-08 | Walking and fetching composite function execution device for walking robot |
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| CN113210959A (en) * | 2021-05-20 | 2021-08-06 | 扬州野马工业智能装备有限公司 | Crawling type welding robot |
| CN113369601B (en) * | 2021-06-16 | 2022-09-06 | 浙江豪业机械制造有限公司 | Efficient machining device for valve body of seat valve |
| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| CN116215462B (en) * | 2023-03-06 | 2023-08-15 | 长春大正博凯汽车设备有限公司 | Rear cover grabbing integrated harness |
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| US6505870B1 (en) * | 2000-05-30 | 2003-01-14 | UNIVERSITé LAVAL | Actuation system for highly underactuated gripping mechanism |
| CN100526026C (en) * | 2007-09-18 | 2009-08-12 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN101850796B (en) * | 2010-01-07 | 2011-09-14 | 郑州轻工业学院 | Four-limb unit formed by combined joints of robot |
| CN101850797B (en) * | 2010-01-07 | 2011-09-14 | 郑州轻工业学院 | Modularized multiped walking robot capable of realizing functional shift between hands and feet |
| CN206105884U (en) * | 2016-10-06 | 2017-04-19 | 泉州惠安泉创文化用品有限公司 | Automatic easy gripper of abbreviation |
| CN207616596U (en) * | 2017-11-24 | 2018-07-17 | 西安科技大学 | A kind of drive lacking three-jaw clamping device |
| CN108127654B (en) * | 2017-12-22 | 2021-05-04 | 哈尔滨工业大学 | A hand and foot universal mechanism for polypod robot |
| CN108789461B (en) * | 2018-06-08 | 2020-10-30 | 北京航空航天大学 | Mechanical foot claw for multi-foot robot |
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