CN111055301A - Double-drive multi-knuckle bionic gripper - Google Patents
Double-drive multi-knuckle bionic gripper Download PDFInfo
- Publication number
- CN111055301A CN111055301A CN202010032100.8A CN202010032100A CN111055301A CN 111055301 A CN111055301 A CN 111055301A CN 202010032100 A CN202010032100 A CN 202010032100A CN 111055301 A CN111055301 A CN 111055301A
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- China
- Prior art keywords
- rack
- connecting rod
- guide rail
- knuckle
- gripper
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- 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.)
- Pending
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000005452 bending Methods 0.000 claims description 6
- 229920001971 elastomer Polymers 0.000 abstract description 3
- 239000000806 elastomer Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
Images
Classifications
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the field of robots. The dual-drive multi-knuckle bionic gripper aims to provide a dual-drive multi-knuckle bionic gripper which can be integrated with the advantages of a rigid connecting rod mechanism and a flexible bionic mechanism and has the advantages of being simple in structure and high in reliability. The technical scheme is as follows: double drive multi-knuckle bionic hand grip, its characterized in that: the gripper comprises a rack, a first motor for driving the rack to rotate around an axis, a second motor arranged in the rack, a supporting platform telescopically positioned at the front end of the rack, a plurality of gripper branches arranged around the supporting platform and a transmission mechanism for transmitting the power of the second motor to drive the supporting platform and the gripper branches to move; the transmission mechanism comprises a guide rail which is arranged in the rack and is parallel to the length direction of the rack, a push plate which can slide along the guide rail, a screw rod which is driven by a second motor, and a nut which is meshed with the screw rod and fixed on the push plate; the tray table is slidably positioned on the guide rail, a plurality of connecting blocks are arranged on the tray table, and the connecting blocks are connected with the push plate through elastomers.
Description
Technical Field
The invention relates to the field of robots, in particular to a dual-drive multi-knuckle bionic gripper for a robot tail end execution part.
Background
The current tongs mainly divide into rigidity link mechanism and flexible bionical mechanism, wherein: the tail end of the rigid link mechanism is mostly provided with metal and other fixtures, so that objects which are fragile or need to be specially protected cannot be grabbed; the flexible bionic mechanism is simpler in structure than the rigid link mechanism, the damage to the surface of a target object is small, but the flexible bionic mechanism needs to specially manufacture a corresponding clamp holder for the grabbing task of a new part, and the cost of some special material grabs is higher, so that the time and the production cost are increased; meanwhile, the existing gripper is driven too much in a mechanical structure, and the reliability is not high.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide the dual-drive multi-knuckle bionic gripper which can be used for integrating the advantages of a rigid connecting rod mechanism and a flexible bionic mechanism and has the characteristics of simple structure and high reliability.
The technical scheme of the invention is as follows:
double drive multi-knuckle bionic hand grip, its characterized in that: the gripper comprises a rack, a first motor for driving the rack to rotate around an axis, a second motor arranged in the rack, a supporting platform telescopically positioned at the front end of the rack, a plurality of gripper branches arranged around the supporting platform and a transmission mechanism for transmitting the power of the second motor to drive the supporting platform and the gripper branches to move;
the transmission mechanism comprises a guide rail which is arranged in the rack and is parallel to the length direction of the rack, a push plate which can slide along the guide rail, a screw rod which is driven by a second motor, and a nut which is meshed with the screw rod and fixed on the push plate; the support table is slidably positioned on the guide rail, a plurality of connecting blocks are arranged on the support table, and the connecting blocks are connected with the push plate through elastomers;
the gripper branches are quadrilateral mechanisms formed by sequentially hinging a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod is rotatably hinged on the connecting block, the third connecting rod is rotatably hinged on the rack, and the fourth connecting rod is provided with a fifth connecting rod.
The first motor is arranged at the rear end of the rack, and a rotating shaft of the first motor is fixed with the rack through a coupler.
In the gripper branch, one end of a first connecting rod is rotatably hinged to the connecting block, two ends of a third connecting rod are respectively rotatably hinged to the middle of the first connecting rod and one end of a fourth connecting rod, the middle of the third connecting rod is rotatably hinged to the rack, and two ends of a second connecting rod are respectively rotatably hinged to the other end of the first connecting rod and the other end of the fourth connecting rod.
The fifth connecting rod is fixed at one end of the fourth connecting rod close to the third connecting rod, the fifth connecting rod is in arc-shaped bending, and the third connecting rod is located between the rack and the fourth connecting rod and is in arc-shaped bending.
The frame comprises a first frame plate, a frame table, a second frame plate, a plurality of first frame rods fixed between the first frame plate and the frame table, and a plurality of second frame rods fixed between the frame table and the second frame plate.
The second motor is fixed in the rack platform; the guide rail is arranged between the stand platform and the second stand plate and is fixed with the stand platform; the guide rail is a hollow cylinder, and a plurality of sliding grooves arranged along the bus direction are formed in the guide rail.
The push plate comprises a first plate body and a second plate body radially arranged on the periphery of the first plate body, the first plate body is located in an inner cavity of the guide rail, the second plate body is in sliding fit with the sliding groove, and the second plate body penetrates through the sliding groove and extends out of the guide rail.
The supporting platform is a hollow cylinder which can be slidably sleeved on the guide rail, and a through hole for the movement of the supporting platform is formed in the center of the second frame plate.
The invention has the beneficial effects that:
the invention provides a dual-drive multi-knuckle bionic gripper combining a rigid link mechanism and a flexible bionic mechanism, wherein the gripper branches adopt a bionic structure and are made of composite materials or metal materials, a spherical contour is generated during gripping operation, the friction force and the contact area between the gripper branches and an object are increased, the gripping effect can be ensured, and good compliance to irregular objects can be ensured; according to the invention, the clamping position and the clamping force are adjusted through the driving of the motors, in the grabbing process, one motor actively adjusts the clamping force of the hand grip and the size of the spherical volume enveloped by the hand grip, and the other motor drives the whole device to rotate so as to provide a torque for the hand grip, so that the structure is simplified, and the reliability of the system is improved; the invention is arranged at the tail end of the robot, improves the success rate of grabbing objects and the safety of a working space, is beneficial to man-machine cooperation, has the characteristics of simple structure, stable process, low production cost and high working efficiency, and can be widely applied to the fields of industrial production, agricultural fruit and vegetable picking robots and the like.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is one of the schematic views (open state) of the gripper branches of the present invention.
Fig. 4 is a second schematic view (folded state) of the grip branch of the present invention.
Fig. 5 is a schematic view of a rack in the present invention.
Fig. 6 is a schematic view of the carriage block, guide rail and push plate of the present invention.
Fig. 7 is a schematic cross-sectional structure of fig. 6.
Fig. 8 is a schematic diagram of a second motor, a lead screw and a push plate in the present invention.
FIG. 9 is a schematic view of a pallet of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
As shown in fig. 1, the dual-drive multi-knuckle bionic gripper comprises a frame, a first motor 1, a second motor 11, a supporting table 8, gripper branches and a transmission mechanism. The first motor is arranged at the rear end of the rack (the upper part of the rack in figure 2), the first motor is used for driving the rack to rotate around an axis, the second motor is arranged in the rack, the supporting platform is telescopically positioned at the front end of the rack (the lower part of the rack in figure 2), the plurality of gripper branches are also arranged at the front end of the rack and are uniformly distributed around the supporting platform, and the transmission mechanism is used for transmitting the power of the second motor to drive the supporting platform and the gripper branches to move. Three gripper branches are uniformly arranged on the periphery of the supporting table.
In the frame, first frame board 6, rack platform 4 and second frame board 7 arrange along frame length direction (the vertical axis of fig. 2) in proper order, and 3 vertical fixation of a plurality of first frame poles are between first frame board and rack platform, and 10 vertical fixation of a plurality of second frame poles are between rack platform and second frame board. The first motor rotating shaft is fixed with the first frame plate through the coupler 2. The first motor rotates to drive the whole rack to rotate. A cavity is formed in the stand platform, and the second motor is fixed in the cavity (the tail end of the second motor is fixed on the end face of the stand platform); and a through hole 7.1 is formed in the center of the second frame plate. The first frame rods with different lengths can be replaced, so that the size of the whole frame is changed, and the working space of the multi-knuckle bionic gripper is adjusted. The first frame rods with different lengths can be replaced, so that the sliding stroke of the push plate 13 and the limit range of the envelope curve 5 are changed, and the grabbing range of the multi-knuckle bionic gripper is adjusted.
The transmission mechanism; the guide rail is a hollow cylinder parallel to the length direction of the rack, a plurality of sliding grooves 9.1 (three sliding grooves are arranged in the drawing) parallel to the length direction of the rack are arranged in the bus direction of the guide rail, and the guide rail is fixed with the bottom surface (facing one side of the second rack plate) of the rack table and is arranged between the rack table and the second rack plate; the screw rod 12 is driven by a second motor, is parallel to the length direction of the rack and is arranged in the inner cavity of the guide rail; the push plate 13 can slide along the guide rail, the push plate comprises a first plate body 13.1 and a plurality of second plate bodies 13.2 (three second plate bodies are shown in the figure) which are radially arranged on the periphery of the first plate body, the first plate body is positioned in the inner cavity of the guide rail, the second plate bodies are in sliding fit with the sliding groove, and the second plate bodies penetrate through the sliding groove and extend out of the guide rail; a nut (omitted from the figures) engages both with the screw and with the first plate of the push plate.
The supporting platform is a hollow cylinder parallel to the length direction of the rack, the inner diameter of the supporting platform is matched with the outer diameter of the guide rail, the supporting platform penetrates through a through hole in the center of the second rack plate and is slidably sleeved on the guide rail, a plurality of connecting blocks 14 (three connecting blocks are shown in the figure) are uniformly arranged on the periphery of the supporting platform, and the connecting blocks are connected with the push plate through elastic bodies 20; the elastic body can be elastic rope.
The gripper branches are quadrilateral mechanisms, and comprise a first connecting rod 15, a second connecting rod 16, a third connecting rod 17 and a fourth connecting rod 18 which are sequentially hinged in a front-back mode, and a fifth connecting rod 19 is further fixed on the fourth connecting rod. Wherein, the one end of first connecting rod rotationally articulates on the connecting block, the middle part of third connecting rod rotationally articulates on the second frame board, the one end of third connecting rod rotationally articulates the middle part at first connecting rod, the other end of third connecting rod rotationally articulates the one end at the fourth connecting rod, the both ends of second connecting rod rotationally articulate the other end at the other end of first connecting rod and the other end of fourth connecting rod respectively, the one end at the fourth connecting rod is fixed to the fifth connecting rod (the tip that is close to the third connecting rod), the fifth connecting rod is the arc bending, the third connecting rod (the position that is located between second frame board and the fourth connecting rod) is the arc bending.
When the second motor drive push pedal moves towards the second frame plate, the push pedal pushes the saddle to extend outwards, the saddle drives the three gripper branches to open through the connecting block, when the second motor drive push pedal moves reversely, the push pedal pulls the saddle to withdraw inwards through the elastic body, and the three gripper branches draw in simultaneously, so that the elastic body has a buffering effect.
The multi-knuckle bionic gripper can be in self-adaptive contact with an object, keeps a certain friction force, well guarantees the clamping efficiency of the object with a special shape, and is particularly suitable for gripping fragile and soft objects such as eggs or tomatoes which are easy to damage. Compared with the existing clamping type rigid gripper, the multi-knuckle bionic gripper has superior flexibility, safety and reliability.
The key of this bionical tongs of multifinger section lies in that three tongs branches can realize the cohesion and draw these two kinds of actions, and when snatching the object, the tongs branch inwards draws in earlier and embraces the object and press the object on the saddle, then the tongs branch continues to draw in simultaneously the saddle and retreats for the tongs branch can wrap up the object more effectively, and the elastomer can play the cushioning effect when the tongs branch can't continue to draw in, avoids the object impaired. Simultaneously, first motor can drive whole tongs and rotate, produces extra moment of torsion.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. Double drive multi-knuckle bionic hand grip, its characterized in that: the gripper comprises a rack, a first motor (1) for driving the rack to rotate around an axis, a second motor (11) arranged in the rack, a supporting platform (8) telescopically positioned at the front end of the rack, a plurality of gripper branches arranged around the supporting platform and a transmission mechanism for transmitting the power of the second motor to drive the supporting platform and the gripper branches to move;
the transmission mechanism comprises a guide rail (9) which is arranged in the rack and is parallel to the length direction of the rack, a push plate (13) which can slide along the guide rail, a screw rod (12) which is driven by a second motor, and a nut which is meshed with the screw rod and fixed on the push plate; the support table can be slidably positioned on the guide rail, a plurality of connecting blocks (14) are arranged on the support table, and the connecting blocks are connected with the push plate through elastic bodies (20);
the gripper branches are quadrilateral mechanisms formed by sequentially hinging a first connecting rod (15), a second connecting rod (16), a third connecting rod (17) and a fourth connecting rod (18), the first connecting rod is rotatably hinged on the connecting block, the third connecting rod is rotatably hinged on the rack, and the fourth connecting rod is provided with a fifth connecting rod (19).
2. The dual-drive multi-knuckle bionic hand grip according to claim 1, characterized in that: the first motor is arranged at the rear end of the rack, and a rotating shaft of the first motor is fixed with the rack through a coupler.
3. The dual-drive multi-knuckle bionic hand grip according to claim 2, characterized in that: in the gripper branch, one end of a first connecting rod is rotatably hinged to the connecting block, two ends of a third connecting rod are respectively rotatably hinged to the middle of the first connecting rod and one end of a fourth connecting rod, the middle of the third connecting rod is rotatably hinged to the rack, and two ends of a second connecting rod are respectively rotatably hinged to the other end of the first connecting rod and the other end of the fourth connecting rod.
4. The dual-drive multi-knuckle bionic hand grip according to claim 3, characterized in that: the fifth connecting rod is fixed at one end of the fourth connecting rod close to the third connecting rod, the fifth connecting rod is in arc-shaped bending, and the third connecting rod is located between the rack and the fourth connecting rod and is in arc-shaped bending.
5. The dual-drive multi-knuckle bionic hand grip according to claim 4, characterized in that: the rack comprises a first rack plate (6), a rack table (4), a second rack plate (7), a plurality of first rack rods (3) fixed between the first rack plate and the rack table, and a plurality of second rack rods (10) fixed between the rack table and the second rack plate.
6. The dual-drive multi-knuckle bionic hand grip according to claim 5, characterized in that: the second motor is fixed in the rack platform; the guide rail is arranged between the stand platform and the second stand plate and is fixed with the stand platform; the guide rail is a hollow cylinder, and a plurality of sliding grooves (9.1) arranged along the bus direction are arranged on the guide rail.
7. The dual-drive multi-knuckle bionic hand grip according to claim 6, characterized in that: the push plate comprises a first plate body (13.1) and a second plate body (13.2) which is radially arranged on the periphery of the first plate body, the first plate body is located in an inner cavity of the guide rail, the second plate body is in sliding fit with the sliding groove, and the second plate body penetrates through the sliding groove and extends out of the guide rail.
8. The dual-drive multi-knuckle bionic gripper according to claim 7, characterized in that: the saddle is a hollow cylinder which can be slidably sleeved on the guide rail, and a through hole (7.1) for the movement of the saddle is arranged at the center of the second frame plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010032100.8A CN111055301A (en) | 2020-01-13 | 2020-01-13 | Double-drive multi-knuckle bionic gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010032100.8A CN111055301A (en) | 2020-01-13 | 2020-01-13 | Double-drive multi-knuckle bionic gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111055301A true CN111055301A (en) | 2020-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010032100.8A Pending CN111055301A (en) | 2020-01-13 | 2020-01-13 | Double-drive multi-knuckle bionic gripper |
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| Country | Link |
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| CN (1) | CN111055301A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844105A (en) * | 2020-08-25 | 2020-10-30 | 北京悦真真科技有限公司 | Mechanical arm |
| CN112388615A (en) * | 2020-11-25 | 2021-02-23 | 苏州市瑞晟制冷设备有限公司 | Firm compressor barrel moves and carries quick-witted tongs |
| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| CN114001589A (en) * | 2021-10-29 | 2022-02-01 | 北京航天发射技术研究所 | Locking device |
| CN114193405A (en) * | 2021-12-14 | 2022-03-18 | 深圳市利德行投资建设顾问有限公司 | Intelligent operation platform that track design was used |
-
2020
- 2020-01-13 CN CN202010032100.8A patent/CN111055301A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844105A (en) * | 2020-08-25 | 2020-10-30 | 北京悦真真科技有限公司 | Mechanical arm |
| CN111844105B (en) * | 2020-08-25 | 2023-12-19 | 北京悦真真科技有限公司 | Mechanical arm |
| CN112388615A (en) * | 2020-11-25 | 2021-02-23 | 苏州市瑞晟制冷设备有限公司 | Firm compressor barrel moves and carries quick-witted tongs |
| CN112706186A (en) * | 2020-12-24 | 2021-04-27 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN112706186B (en) * | 2020-12-24 | 2022-03-08 | 杭州电子科技大学 | Humanoid wrist type robot claw and grabbing method thereof |
| CN113083976A (en) * | 2021-03-31 | 2021-07-09 | 上汽通用五菱汽车股份有限公司 | Clamping device for positioning inside part cavity |
| CN114001589A (en) * | 2021-10-29 | 2022-02-01 | 北京航天发射技术研究所 | Locking device |
| CN114193405A (en) * | 2021-12-14 | 2022-03-18 | 深圳市利德行投资建设顾问有限公司 | Intelligent operation platform that track design was used |
| CN114193405B (en) * | 2021-12-14 | 2022-12-16 | 深圳市利德行投资建设顾问有限公司 | Intelligent operation platform that track design was used |
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