CN111844091A - Machine tool panel operation manipulator based on circumferential motion - Google Patents
Machine tool panel operation manipulator based on circumferential motion Download PDFInfo
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- CN111844091A CN111844091A CN202010665783.0A CN202010665783A CN111844091A CN 111844091 A CN111844091 A CN 111844091A CN 202010665783 A CN202010665783 A CN 202010665783A CN 111844091 A CN111844091 A CN 111844091A
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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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
- B23Q1/0045—Control panels or boxes
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Abstract
The invention discloses a machine tool panel operation manipulator based on circumferential motion, and relates to a manipulator structure, in particular to a manipulator structure capable of being used for machine tool panel operation. The device consists of a main body module and a finger module; one or at least two finger modules are arranged on the periphery of the main body module and are in gear transmission with the main body module, and the four finger modules do not collide with each other. The manipulator can stably grab various objects by adjusting the positions of the fingers and the grabbing postures of the fingers. Meanwhile, contact operation, such as keyboard key operation, can be realized without the cooperation of mechanical arms. The adaptability of the manipulator is greatly improved.
Description
Technical Field
The invention relates to a manipulator structure, in particular to a manipulator structure which can be used for operating a machine tool panel.
Background
Hands are vital to us in our daily life and learning. In industrial production, the end effector of a robotic arm is also critical to being able to perform properly. With the development of society and the progress of science and technology, the existing tail end of the mechanical arm cannot meet the requirements of people in actual production and life. The end effector needs to be designed according to the operation object, so the designed end is often single in function and not universal. In addition, the existing wrist-palm mechanism with the tail end connected with the paw and the mechanical arm is fixed and unchangeable. Therefore, when the mechanical arm executes various different operation objects, the tail end needs to be frequently replaced, and the working efficiency is greatly influenced. Moreover, when the end effector performs a contact operation, it is often necessary to perform a task by the cooperation of the robot arms. Meanwhile, the existing mechanical arm has complex transmission, low transmission efficiency, poor reliability and can not accurately provide force control.
Disclosure of Invention
The invention provides a machine tool panel operation manipulator based on circumferential motion, which can stably grab various objects by adjusting the positions of fingers and the grabbing postures of the fingers. Meanwhile, contact operation, such as keyboard key operation, can be realized without the cooperation of mechanical arms. The adaptability of the manipulator is greatly improved.
In order to solve the problems, the invention adopts the following technical scheme: a machine tool panel operation manipulator based on circumferential motion is composed of a main body module and a finger module; one or at least two finger modules are arranged on the periphery of the main body module and are in gear transmission with the main body module, and the four finger modules do not collide with each other.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the finger module comprises a first finger module, a second finger module, a third finger module and a fourth finger module; the first finger module, the second finger module, the third finger module and the fourth finger module are respectively arranged around the main body module and are in gear transmission with the main body module, and the first finger module, the second finger module, the third finger module and the fourth finger module are not collided with each other.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the main body module consists of a threaded taper sleeve, an arc guide rail, a large gear and a taper sleeve; the threaded taper sleeve and the taper sleeve are fixedly connected with the large gear through a bolt and the axle center of the large gear; the arc guide rail concentric with the big gear is fixedly connected with the big gear through a bolt.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the finger module consists of a finger support frame, a palm finger motor, a sliding table assembly, a coupler, a pinion, a palm finger joint shaft, a palm finger assembly, a near finger assembly, a middle finger assembly and a far finger assembly; the palm finger motor is fixedly connected with the finger support frame through a screw; the finger support frame is fixedly connected with the sliding table assembly through a countersunk bolt; the palm finger motor is connected with the coupling; the coupler is connected with the palm knuckle shaft; the small gear is fixedly connected with the palm knuckle shaft and is meshed with the large gear of the main body module to realize transmission; the finger support frame is connected with the palm finger assembly; the palm finger assembly and the near finger assembly are in gear transmission, so that the near finger assembly can rotate around the palm finger assembly; the near finger assembly and the middle finger assembly are in gear transmission, so that the middle finger assembly can rotate around the near finger assembly; the middle finger assembly and the distal finger assembly are in gear transmission, so that the distal finger assembly can rotate around the middle finger.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the sliding table assembly consists of a sliding table supporting plate and a V-shaped bearing; the sliding table supporting plate is fixedly connected with the V-shaped bearing; the V-shaped bearing of the sliding table assembly is matched with the arc guide rail of the main body module.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the palm finger assembly consists of a flange bearing, a palm finger motor, a palm finger front end plate, a palm finger bevel gear, a near knuckle rotation angle sensor, a palm finger bearing, a near knuckle shaft, a palm finger upper end cover, a palm finger knuckle rotation angle sensor and a palm finger lower end cover; the flange bearing is fixedly connected with the palm finger upper end cover; the flange bearing is fixedly connected with the palm finger lower end cover; the palm finger motor is fixedly connected with the palm finger front end plate through a screw; the palm finger bevel gear is fixedly connected with the palm finger motor output shaft through a jackscrew; the palm finger bearing is fixedly connected with the palm finger front end plate; the palm finger bevel gear is fixedly connected with the near knuckle shaft through a jackscrew; the proximal knuckle rotation angle sensor is glued with a palm finger front end plate and used for measuring the rotation angle of a proximal knuckle shaft; the palm finger upper end cover is fixedly connected with the palm finger lower end cover through a screw, and is fixedly connected with the palm finger front end plate through a screw; the palm finger rotating angle sensor is glued with the palm finger lower end cover and is aligned with the center line of the flange bearing; the upper end cover of the 32-palm finger is fixedly connected with the support frame of the 10-finger.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the near finger assembly consists of a near finger motor, a near finger front end plate, a near finger bevel gear, a near finger bearing, a middle finger knuckle shaft, a middle finger knuckle rotating angle sensor, a near finger upper end cover and a near finger lower end cover; the near finger motor is fixedly connected with the near finger front end plate through a screw; the near-finger bevel gear is fixedly connected with the near-finger motor through a jackscrew; the near finger bearing is fixedly connected with the near finger front end plate; the middle knuckle rotation angle sensor is glued with the near finger front end plate; the near-finger bevel gear is fixedly connected with the middle-finger knuckle shaft through a jackscrew, and further, the rotation angle of the near-finger knuckle shaft is measured through a rotation angle sensor; the upper end cover of the near finger, the lower end cover of the near finger and the front end plate of the near finger are fixedly connected through screws; the proximal knuckle shaft is fixedly connected with the proximal upper end cover.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the middle finger assembly consists of a middle finger motor, a middle finger front end plate, a middle finger bevel gear, a far knuckle rotation angle sensor, a middle finger bearing, a far knuckle shaft, a middle finger upper end cover and a middle finger lower end cover; the middle finger motor is fixedly connected with the middle finger front end plate through a screw; the middle finger bevel gear is fixedly connected with a middle finger motor through a jackscrew; the middle finger bearing is fixedly connected with a middle finger front end plate; the distal knuckle rotation angle sensor is glued with the front end plate of the middle finger; the middle finger bevel gear is fixedly connected with the far knuckle shaft through a jackscrew, and further, the rotating angle of the far knuckle shaft is measured through a rotating angle sensor; the middle finger upper end cover is fixedly connected with the middle finger lower end cover through a screw, and is fixedly connected with the middle finger front end plate through a screw; the middle knuckle shaft is fixedly connected with the upper end cover of the middle finger.
Further, the machine tool panel operation manipulator based on circumferential motion further has the following characteristics: the far finger assembly consists of a far finger end, a film pressure sensor, a far finger nut, a far finger front half shell, a far finger motor fixing frame, a far finger screw motor, a cylindrical pin, a far finger right end cover and a far finger left end cover; the far finger end, the film pressure sensor and the far finger nut are fixedly connected; the far finger nut and the far finger screw motor form a screw nut pair; the far finger screw motor is connected with the far finger motor fixing frame through a screw; the far finger joint shaft is arranged on the far finger left end cover and the far finger right end cover; the far finger left end cover and the far finger right end cover are positioned through cylindrical pins and are connected with the far finger front half shell and the far finger motor fixing frame through screws.
The invention adopts the structure. The invention has four finger modules and twenty degrees of freedom. The finger module can rotate around the central axis of the main body module. First finger module, second finger module, third finger module, fourth finger module can realize nearly indicating, well finger, far indicate relatively independent rotation, can realize bending motion, and in addition, the far finger has lead screw nut pair, can stretch out and draw back, can exert the effect to the object. The invention can replace hands to finish the carrying tasks of common materials and irregular objects, can also carry out contact operation on the keyboard touch screen, and can finish various fine operation tasks under the condition of being harmful to human bodies. Reasonable design, high automation degree, low cost, easy popularization and use, and wide application prospect and social significance in the field of industrial robots. The invention is more suitable for the operation of the machine tool panel.
Drawings
FIG. 1 is a general isometric view of the present invention;
FIG. 2 is a schematic structural diagram of the main body module of the present invention shown in FIG. 1;
FIG. 3 is a schematic diagram of the finger module of FIG. 1;
FIG. 4 is a schematic structural view of the slide table assembly shown in FIG. 3;
FIG. 5 is a schematic view of the finger assembly of FIG. 3;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic view of the proximal finger assembly of FIG. 3;
FIG. 8 is a top view of FIG. 7;
FIG. 9 is a schematic view of the middle finger assembly of FIG. 3;
FIG. 10 is a top view of FIG. 9;
FIG. 11 is a schematic view of the distal finger assembly of FIG. 3;
fig. 12 is a top view of fig. 11.
Reference numerals: 1-a main body module, 2-a first finger module, 3-a second finger module, 4-a third finger module, 5-a fourth finger module, 6-a threaded taper sleeve, 7-a circular arc guide rail, 8-a large gear, 9-a taper sleeve, 10-a finger support frame, 11-a palm finger motor, 12-a sliding table assembly, 13-a coupler, 14-a small gear, 15-a palm finger joint shaft, 16-a palm finger assembly, 17-a proximal finger assembly, 18-a middle finger assembly, 19-a distal finger assembly, 20-a sliding table support plate, 21-a nut, 22-a jackscrew, 23-a V-shaped bearing, 24-a twisted hole bolt, 25-a flange bearing, 26-a palm finger motor, 27-a palm finger front end plate, 28-a palm finger bevel gear, 29-a proximal finger joint rotation angle sensor, 30-metacarpophalangeal bearing, 31-proximal phalanx, 32-upper metacarpophalangeal end cover, 33-metacarpophalangeal rotation angle sensor, 34-lower metacarpophalangeal end cover, 35-proximal phalanx motor, 36-front proximal phalanx plate, 37-bevel proximal phalanx gear, 38-proximal phalanx, 39-middle phalanx shaft, 40-middle phalanx rotation angle sensor, 41-upper proximal phalanx cover, 42-lower proximal phalanx cover, 43-middle phalanx motor, 44-front middle phalanx plate, 45-middle phalanx gear, 46-distal phalanx rotation angle sensor, 47-middle phalanx bearing, 48-distal phalanx shaft, 49-upper middle phalanx cover, 50-lower middle phalanx cover, 51-distal phalanx, 52-thin film pressure sensor, 53-distal phalanx nut, 54-front distal phalanx half shell, 55-far finger motor fixing frame, 56-far finger screw motor, 57-cylindrical pin, 58-far finger right end cover and 59-far finger left end cover.
Detailed Description
The present invention will be described in detail with reference to the following preferred embodiments.
The utility model provides a lathe panel manipulator based on circumferential motion which characterized in that:
as shown in fig. 1, the device is composed of a main body module, a first finger module, a second finger module, a third finger module and a fourth finger module. The 2-first finger module and the 1-main body module are in gear transmission, so that the 2-first finger module can do circular motion around the 1-main body module. The 3-second finger module and the 1-main body module are in gear transmission, so that the 3-second finger module can do circular motion around the 1-main body module under the condition that the 3-second finger module does not collide with the 2-first finger module. The 4-third finger module and the 1-main body module are in gear transmission, so that the 4-third finger module can do circular motion around the 1-main body module under the condition that collision with the 2-first finger module and the 3-second finger module does not occur. The 5-fourth finger module and the 1-main body module are in gear transmission, so that the 5-fourth finger module can do circular motion around the 1-main body module under the condition that the 5-fourth finger module does not collide with the 2-first finger module, the 3-second finger module and the 4-third finger module.
As shown in figure 2, the main body module consists of a 6-thread taper sleeve, a 7-arc guide rail, an 8-large gear and a 9-taper sleeve. The 6-thread taper sleeve and the 9-taper sleeve are fixedly connected with the 8-bull gear through bolts and the axle center of the bull gear. The 7-arc guide rail concentric with the big gear is fixedly connected with the 8-big gear through a bolt.
As shown in fig. 3, the first finger module, the second finger module, the third finger module and the fourth finger module are respectively composed of a 10-finger support frame, a 11-palm finger motor, a 12-sliding table assembly, a 13-coupler, a 14-pinion, a 15-palm knuckle shaft, a 16-palm finger assembly, a 17-proximal finger assembly, a 18-middle finger assembly and a 19-distal finger assembly; the 11-palm finger motor is fixedly connected with the finger support frame through a screw; the 10-finger support frame is fixedly connected with the 12-sliding table assembly through a countersunk bolt; the 11-palm finger motor rotating shaft is connected with the 13-coupler; the 13-coupler is connected with the 15-palm knuckle shaft; the 14-pinion is fixedly connected with the 15-palm knuckle shaft, and the pinion is meshed with the bull gear of the main body module to realize transmission; the 10-finger support frame is connected with the 16-palm finger component; the 16-palm finger assembly and the 17-near finger assembly are in gear transmission, so that the 17-near finger assembly can rotate around the palm finger assembly; the 17-near finger assembly and the 18-middle finger assembly are in gear transmission, so that the 18-middle finger assembly can rotate around the 17-near finger assembly; the 18-middle finger assembly and the 19-far finger assembly are in gear transmission, so that the 19-far finger assembly can rotate around the 18-middle finger.
As shown in fig. 4, the 12-sliding table assembly consists of a 20-sliding table support plate, a 21-nut, a 22-jackscrew, a 23-V-shaped bearing and a 24-stranded hole bolt; the 20-sliding table supporting plate is connected with the 23-V-shaped bearing through a 24-reamed hole bolt and a 21-nut; the 22-jackscrew is provided with 20-sliding table supporting plates which are connected through threads; the 23-V-shaped bearing of the 12-sliding table assembly is matched with the 7-arc guide rail of the main body module, and two V-shaped bearings can be arranged on the inner side and the outer side of the arc guide rail respectively.
As shown in fig. 5 and 6, the 16-palm finger assembly consists of a 25-flange bearing, a 26-palm finger motor, a 27-palm finger front end plate, a 28-palm finger bevel gear, a 29-proximal knuckle rotation angle sensor, a 30-palm finger bearing, a 31-proximal knuckle shaft, a 32-palm finger upper end cover, a 33-palm finger knuckle rotation angle sensor and a 34-palm finger lower end cover; the 25-flange bearing is fixedly connected with the 32-palm finger upper end cover; the 25-flange bearing is fixedly connected with the 34-palm finger lower end cover; the 26-palm finger motor is fixedly connected with the 27-palm finger front end plate through a screw; one of a pair of mutually meshed 28-palm finger bevel gears is fixedly connected with the output shaft of the 26-palm finger motor through a jackscrew; the 30-palm finger bearing is fixedly connected with the 27-palm finger front end plate; the other one of the 28-palm finger bevel gears which are meshed with each other is fixedly connected with the 31-near knuckle shaft through a jackscrew; the 29-proximal knuckle rotation angle sensor is glued with the 27-metacarpophalangeal front end plate and is used for measuring the rotation angle of the proximal knuckle shaft; the 32-palm finger upper end cover is fixedly connected with the 34-palm finger lower end cover through a screw, and is fixedly connected with the 27-palm finger front end plate through a screw; the 33-palm finger rotation angle sensor is glued with the 34-palm finger lower end cover and is aligned with the center line of the 25-flange bearing. The 32-palm finger upper end cover is fixedly connected with the 10-finger support frame;
As shown in fig. 7 and 8, the 17-proximal finger assembly is composed of a 35-proximal finger motor, a 36-proximal finger front end plate, a 37-proximal finger bevel gear, a 38-proximal finger bearing, a 39-middle knuckle shaft, a 40-middle knuckle rotation angle sensor, a 41-proximal finger upper end cover and a 42-proximal finger lower end cover; the 35-near finger motor is fixedly connected with the 36-near finger front end plate through screws; one of the pair of mutually meshed 37-near finger bevel gears is fixedly connected with a 35-near finger motor rotating shaft through a jackscrew; the 38-near finger bearing is fixedly connected with the 36-near finger front end plate; the 40-middle knuckle rotation angle sensor is glued with the 36-near finger front end plate; the other one of the pair of the mutually meshed 37-proximal bevel gears is fixedly connected with the 39-middle knuckle shaft through a jackscrew, and further, the rotating angle of the proximal knuckle shaft is measured through a rotating angle sensor; the 41-near finger upper end cover and the 42-near finger lower end cover which are fixedly connected through screws are fixedly connected with the 36-near finger front end plate through screws; the 31-proximal knuckle shaft is fixedly connected with the 41-proximal upper end cover. The two ends of the 31-proximal knuckle shaft of the palm finger assembly are arranged in shaft holes on the 41-proximal finger upper end cover and the 42-proximal finger lower end cover.
As shown in fig. 9 and 10, the middle finger assembly is composed of a 43-middle finger motor, a 44-middle finger front end plate, a 45-middle finger bevel gear, a 46-far knuckle rotation angle sensor, a 47-middle finger bearing, a 48-far knuckle shaft, a 49-middle finger upper end cover and a 50-middle finger lower end cover; the 43-middle finger motor is fixedly connected with the 44-middle finger front end plate through screws; one of a pair of 45-middle finger bevel gears which are meshed with each other is fixedly connected with a 43-middle finger motor through a jackscrew; the 47-middle finger bearing is fixedly connected with the 44-middle finger front end plate; the 46-distal knuckle rotation angle sensor is glued with the 44-middle finger front end plate; the other one of the 45-middle finger bevel gears which are meshed with each other is fixedly connected with the 48-far knuckle shaft through a jackscrew, and further, the rotating angle of the far knuckle shaft is measured through a rotating angle sensor; the upper end cover of the 49-middle finger is fixedly connected with the lower end cover of the 50-middle finger through a screw, and is fixedly connected with the front end plate of the 44-middle finger through a screw; the 39-middle knuckle shaft is fixedly connected with the 49-middle finger upper end cover. The middle knuckle shaft 39 of the proximal finger assembly is mounted at both ends in shaft holes on the upper end cover of the 49-middle finger and the lower end cover of the 50-middle finger.
As shown in fig. 11 and 12, the distal finger assembly is composed of 51-distal finger end, 52-film pressure sensor, 53-distal finger nut, 54-distal finger front half shell, 55-distal finger motor fixing frame, 56-distal finger screw motor, 57-cylindrical pin, 58-distal finger right end cover and 59-distal finger left end cover; the 51-far finger end, the 52-film pressure sensor and the 53-far finger nut are fixedly connected; the 53-far finger nut and the 56-far finger screw motor form a screw nut pair; the 56-far finger screw motor is connected with the 55-far finger motor fixing frame through a screw; the 48-far knuckle shaft is arranged on a 59-far finger left end cover and a 58-far finger right end cover; the 59-far finger left end cover and the 58-far finger right end cover are positioned through a 57-cylindrical pin and are connected with the 54-far finger front half shell and the 55-far finger motor fixing frame through screws. The 48-distal knuckle shaft of the middle finger assembly is mounted in the shaft bores of the 58-distal finger right end cap and 59-distal finger left end cap.
The specific operation of the present invention will now be described with reference to fig. 1-12.
Taking 2-the first finger module as an example, the rotation process around 1-the main body module:
26-palm finger motor is started, torque is transmitted to a 14-pinion gear through a 13-coupler and a 15-palm finger knuckle shaft to be meshed with an 8-bull gear of the 1-main body module, so that the 12-sliding table assembly in the 2-first finger module can rotate around the central axis on a 7-circular arc guide rail of the 1-main body module.
Taking the first finger module as an example, the bending process is described as follows:
the 43-middle finger motor is not started, the 35-near finger motor is not started, the 26-palm finger motor is started, the torque of the 26-palm finger motor is transmitted to the 31-near knuckle shaft through the 28-palm finger bevel gear, the 17-near finger assembly is driven to rotate relative to the 16-palm finger assembly, and the 17-near finger assembly is bent relative to the 16-palm finger assembly.
The 43-middle finger motor is not started, the 35-near finger motor is started, the 26-palm finger motor is not started, the torque of the 35-near finger motor is transmitted to the 39-middle finger knuckle shaft through the 37-near finger bevel gear, the 18-middle finger assembly is driven to rotate relative to the 17-near finger assembly, and the 18-middle finger assembly is bent relative to the 17-near finger assembly.
The 43-middle finger motor is started, the 35-near finger motor is not started, the 26-palm finger motor is not started, the torque of the 43-middle finger motor is transmitted to the 48-far finger knuckle shaft through the 45-middle finger bevel gear, the 19-far finger assembly is driven to rotate relative to the 18-middle finger assembly, and the 19-far finger assembly is bent relative to the 18-middle finger assembly.
The 43-middle finger motor, 35-near finger motor and 26-palm finger motor are started simultaneously. The 26-palm finger motor transmits torque to the 31-near knuckle shaft through the 28-palm finger bevel gear to drive the 17-near finger assembly to rotate relative to the 16-palm finger assembly, and bending of the 17-near finger assembly relative to the 16-palm finger assembly is achieved. The 35-near finger motor transmits torque to the 39-middle finger knuckle shaft through the 37-near finger bevel gear to drive the 18-middle finger assembly to rotate relative to the 17-near finger assembly, and therefore the 18-middle finger assembly bends relative to the 17-near finger assembly. The middle finger motor transmits torque to the 48-far finger knuckle shaft through the 45-middle finger bevel gear to drive the 19-far finger assembly to rotate relative to the 18-middle finger assembly, and the 19-far finger assembly bends relative to the 18-middle finger assembly. Thereby achieving a bending action of the 2-first finger module.
Contact operation of the distal finger assembly:
and (5) starting a 56-far finger screw motor to drive a 53-far finger nut to form a screw nut pair, so that the 53-far finger nut linearly moves along the inner diameter of the 54-far finger front half shell. The contact operation is realized, and the force applied to the surface of the operation object by the 51-far finger tip can be measured by the 52-film pressure sensor.
Claims (9)
1. The utility model provides a lathe panel manipulator based on circumferential motion which characterized in that: the device consists of a main body module and a finger module; one or at least two finger modules are arranged on the periphery of the main body module and are in gear transmission with the main body module, and the four finger modules do not collide with each other.
2. A machine tool panel manipulator of claim 1 based on circumferential motion, wherein: the finger module comprises a first finger module, a second finger module, a third finger module and a fourth finger module; the first finger module, the second finger module, the third finger module and the fourth finger module are respectively arranged around the main body module and are in gear transmission with the main body module, and the first finger module, the second finger module, the third finger module and the fourth finger module are not collided with each other.
3. A machine tool panel manipulator of claim 1 based on circumferential motion, wherein: a machine tool panel manipulator of claim 1 based on circumferential motion, wherein: the main body module consists of a threaded taper sleeve, an arc guide rail, a large gear and a taper sleeve; the threaded taper sleeve and the taper sleeve are fixedly connected with the large gear through a bolt and the axle center of the large gear; the arc guide rail concentric with the big gear is fixedly connected with the big gear through a bolt.
4. A machine tool panel manipulator of claim 1, 2 or 3 based on circumferential motion, wherein: the finger module consists of a finger support frame, a palm finger motor, a sliding table assembly, a coupler, a pinion, a palm finger joint shaft, a palm finger assembly, a near finger assembly, a middle finger assembly and a far finger assembly; the palm finger motor is fixedly connected with the finger support frame through a screw; the finger support frame is fixedly connected with the sliding table assembly through a countersunk bolt; the palm finger motor is connected with the coupling; the coupler is connected with the palm knuckle shaft; the small gear is fixedly connected with the palm knuckle shaft and is meshed with the large gear of the main body module to realize transmission; the finger support frame is connected with the palm finger assembly; the palm finger assembly and the near finger assembly are in gear transmission, so that the near finger assembly can rotate around the palm finger assembly; the near finger assembly and the middle finger assembly are in gear transmission, so that the middle finger assembly can rotate around the near finger assembly; the middle finger assembly and the distal finger assembly are in gear transmission, so that the distal finger assembly can rotate around the middle finger.
5. A machine tool panel manipulator of claim 4 based on circumferential motion, wherein: the sliding table assembly consists of a sliding table supporting plate and a V-shaped bearing; the sliding table supporting plate is fixedly connected with the V-shaped bearing; the V-shaped bearing of the sliding table assembly is matched with the arc guide rail of the main body module.
6. A machine tool panel manipulator of claim 4 based on circumferential motion, wherein: the palm finger assembly consists of a flange bearing, a palm finger motor, a palm finger front end plate, a palm finger bevel gear, a near knuckle rotation angle sensor, a palm finger bearing, a near knuckle shaft, a palm finger upper end cover, a palm finger knuckle rotation angle sensor and a palm finger lower end cover; the flange bearing is fixedly connected with the palm finger upper end cover; the flange bearing is fixedly connected with the palm finger lower end cover; the palm finger motor is fixedly connected with the palm finger front end plate through a screw; the palm finger bevel gear is fixedly connected with the palm finger motor output shaft through a jackscrew; the palm finger bearing is fixedly connected with the palm finger front end plate; the palm finger bevel gear is fixedly connected with the near knuckle shaft through a jackscrew; the proximal knuckle rotation angle sensor is glued with a palm finger front end plate and used for measuring the rotation angle of a proximal knuckle shaft; the palm finger upper end cover is fixedly connected with the palm finger lower end cover through a screw, and is fixedly connected with the palm finger front end plate through a screw; the palm finger rotating angle sensor is glued with the palm finger lower end cover and is aligned with the center line of the flange bearing; the palm and finger upper end cover is fixedly connected with the finger support frame.
7. A machine tool panel manipulator of claim 4 based on circumferential motion, wherein: the near finger assembly consists of a near finger motor, a near finger front end plate, a near finger bevel gear, a near finger bearing, a middle finger knuckle shaft, a middle finger knuckle rotating angle sensor, a near finger upper end cover and a near finger lower end cover; the near finger motor is fixedly connected with the near finger front end plate through a screw; the near-finger bevel gear is fixedly connected with the near-finger motor through a jackscrew; the near finger bearing is fixedly connected with the near finger front end plate; the middle knuckle rotation angle sensor is glued with the near finger front end plate; the near-finger bevel gear is fixedly connected with the middle-finger knuckle shaft through a jackscrew, and further, the rotation angle of the near-finger knuckle shaft is measured through a rotation angle sensor; the upper end cover of the near finger, the lower end cover of the near finger and the front end plate of the near finger are fixedly connected through screws; the proximal knuckle shaft is fixedly connected with the proximal upper end cover.
8. A machine tool panel manipulator of claim 4 based on circumferential motion, wherein: the middle finger assembly consists of a middle finger motor, a middle finger front end plate, a middle finger bevel gear, a far knuckle rotation angle sensor, a middle finger bearing, a far knuckle shaft, a middle finger upper end cover and a middle finger lower end cover; the middle finger motor is fixedly connected with the middle finger front end plate through a screw; the middle finger bevel gear is fixedly connected with a middle finger motor through a jackscrew; the middle finger bearing is fixedly connected with a middle finger front end plate; the distal knuckle rotation angle sensor is glued with the front end plate of the middle finger; the middle finger bevel gear is fixedly connected with the far knuckle shaft through a jackscrew, and further, the rotating angle of the far knuckle shaft is measured through a rotating angle sensor; the middle finger upper end cover is fixedly connected with the middle finger lower end cover through a screw, and is fixedly connected with the middle finger front end plate through a screw; the middle knuckle shaft is fixedly connected with the upper end cover of the middle finger.
9. A machine tool panel manipulator of claim 4 based on circumferential motion, wherein: the far finger assembly consists of a far finger end, a film pressure sensor, a far finger nut, a far finger front half shell, a far finger motor fixing frame, a far finger screw motor, a cylindrical pin, a far finger right end cover and a far finger left end cover; the far finger end, the film pressure sensor and the far finger nut are fixedly connected; the far finger nut and the far finger screw motor form a screw nut pair; the far finger screw motor is connected with the far finger motor fixing frame through a screw; the far finger joint shaft is arranged on the far finger left end cover and the far finger right end cover; the far finger left end cover and the far finger right end cover are positioned through cylindrical pins and are connected with the far finger front half shell and the far finger motor fixing frame through screws.
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| CN2020103686776 | 2020-05-01 | ||
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| CN201950672U (en) * | 2010-12-18 | 2011-08-31 | 浙江理工大学 | Full-driving type flexible manipulator |
| KR101469493B1 (en) * | 2013-12-03 | 2014-12-05 | 한국과학기술연구원 | Robot finger driving module using differential gear characteristics and robot hand including the same |
| CN107097246A (en) * | 2017-05-25 | 2017-08-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
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2020
- 2020-07-11 CN CN202010665783.0A patent/CN111844091B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201950672U (en) * | 2010-12-18 | 2011-08-31 | 浙江理工大学 | Full-driving type flexible manipulator |
| KR101469493B1 (en) * | 2013-12-03 | 2014-12-05 | 한국과학기술연구원 | Robot finger driving module using differential gear characteristics and robot hand including the same |
| CN107097246A (en) * | 2017-05-25 | 2017-08-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
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