CN112248025A - Modular manipulator with automatic knuckle limiting mechanism - Google Patents
Modular manipulator with automatic knuckle limiting mechanism Download PDFInfo
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- CN112248025A CN112248025A CN202011175916.2A CN202011175916A CN112248025A CN 112248025 A CN112248025 A CN 112248025A CN 202011175916 A CN202011175916 A CN 202011175916A CN 112248025 A CN112248025 A CN 112248025A
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- 230000000670 limiting effect Effects 0.000 title claims abstract description 113
- 210000000078 claw Anatomy 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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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
- B25J15/08—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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- 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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Abstract
The invention discloses a modular manipulator with an automatic knuckle limiting mechanism, and belongs to the technical field of automatic mechanical equipment. The manipulator comprises a first rotating finger, a second rotating finger, 4 fixed fingers, an automatic knuckle limiting mechanism, a finger rotating mechanism and a finger grabbing mechanism, the fingers of the manipulator can be assembled and disassembled, meanwhile, the first rotating finger and the second rotating finger can synchronously rotate 60 degrees in opposite directions, the number and the distribution state of the fingers can be adjusted according to the grabbed objects, the enveloping grabbing of spherical objects and enveloping grabbing of cylindrical objects with different weights can be realized, when the automatic knuckle limiting mechanism plays a limiting role, spherical objects with different weights and cylindrical objects can be pinched, this manipulator can the spacing angle of automatically regulated knuckle, and the control envelope is snatched and is held between the fingers and get the object of unidimensional not, adopts ball to promote the hand claw and opens the closure, realizes snatching and holds between the fingers the accurate control of getting the object dynamics, adopts the underactuated to snatch the object, and the compliance is good, not fragile object.
Description
Technical Field
The invention relates to the technical field of automatic mechanical equipment, in particular to a modular manipulator with an automatic knuckle limiting mechanism.
Background
The manipulator is an automatic mechanical device capable of grabbing and carrying objects. The prior manipulator has the following problems: (1) the knuckle part of the mechanical arm is usually the most vulnerable place, and the operation of maintaining and replacing parts of the mechanical arm with an integral structure is complex and takes long time; (2) the number and the positions of fingers of the mechanical arm are fixed, and the number and the positions of the fingers cannot be adjusted according to needs; (3) only an object with a specific shape and a specific size can be grabbed in a specific posture, a small object cannot be grabbed, and the universality is poor; (4) rigid grabbing is difficult to grasp due to lack of flexibility, and the grabbed object is easy to damage; (5) large volume, complex structure, low space utilization rate and high manufacturing cost.
The fingers of the modularized manipulator adopt a modularized design idea, the fingers are convenient to replace during maintenance, plug and play are realized, and the number of the fingers can be selected according to the requirement; each finger is provided with an automatic knuckle limiting mechanism, so that a large object can be captured in an enveloping mode, and small objects with different sizes can be captured by automatically adjusting knuckle limiting angles; two fingers can automatically rotate, an included angle between the fingers is adjusted to adapt to a grabbing cylinder or a grabbing ball, and a motor is used for driving a ball screw, so that the paws are pushed to open and close, and the force for grabbing and pinching objects can be accurately controlled; the finger adopts under-actuated, can be gentle and agreeable to snatch the object, and not fragile object is snatched, and the structure is simpler, and equipment volume is less, can use in narrow space, and manufacturing cost is lower.
Disclosure of Invention
The invention discloses a modularized mechanical arm with an automatic knuckle limiting mechanism aiming at the problems in the prior art, wherein the modularized mechanical arm adopts the automatic knuckle limiting mechanism to automatically adjust the knuckle limiting angle, so that a larger object can be captured in an enveloping way, and a smaller object can be captured; the finger rotating mechanism is adopted, so that not only can a spherical object be grabbed, but also a cylindrical object can be grabbed; the number of fingers can be adjusted according to the use requirement, different objects in weight can be grabbed, the ball screw is adopted to push the paw to open and close, and the accurate control of the force of grabbing and pinching the objects can be realized.
In order to achieve the technical purpose, the technical scheme of the invention is as follows: the utility model provides a take automatic knuckle stop gear's modularization manipulator, its characterized in that, the manipulator includes that first rotatory finger, the rotatory finger of second, 4 fixed fingers, automatic knuckle stop gear, finger slewing mechanism, finger snatch the mechanism, and first rotatory finger, the rotatory finger of second and 4 fixed fingers are 60 contained angles evenly distributed.
Further, the first rotating finger comprises a root knuckle, a middle knuckle, a tail end knuckle, an automatic knuckle limiting mechanism, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a finger rotating shaft, a rotating finger upper cover plate, a push rod, an annular slide block, a rotating finger shell, a rotating finger base, a fixed limiting block, a cylindrical spring pin and a torsion spring, wherein the tail end knuckle is respectively connected with the middle knuckle and the first connecting rod through a pin shaft, the torsion spring is installed between the tail end knuckle and the middle knuckle and is sleeved on the pin shaft, the middle knuckle is connected with the root knuckle and the second connecting rod through a pin shaft in the automatic knuckle limiting mechanism, the torsion spring is installed between the root knuckle and the second connecting rod, the torsion spring is sleeved on the pin shaft, the root knuckle limiting block is arranged on the root knuckle, the first connecting rod is connected with the second connecting rod through a pin shaft, the second connecting rod is connected with the third connecting rod through a pin shaft, and the third connecting rod is connected with the fourth, the fourth connecting rod is connected with a root knuckle and a finger rotating shaft through a pin shaft, the push rod is respectively connected with the fourth connecting rod and the annular sliding block through a pin shaft, the annular sliding block is in clearance fit with the finger rotating shaft, the annular sliding block is also in clearance fit with the moving platform, the fixed limiting block is in interference fit with the finger rotating shaft, two ends of the finger rotating shaft are supported and installed between the rotary finger upper cover plate and the rotary finger base through bearings, a square connecting block is arranged on the lower portion of the finger rotating shaft, the rotary finger shell is respectively connected with the rotary finger upper cover plate and the rotary finger base through screws, a T-shaped guide rail is arranged on the rotary finger base, and the cylindrical spring pin is in interference fit.
Further, the second rotating finger has the same structure as the first rotating finger, but the grooving directions of the second rotating finger upper cover plate and the rotating finger upper cover plate are different because the rotating directions of the fingers are different, and the fixed finger does not need to rotate, so that the fixed finger upper cover plate, the fixed finger base and the fixed finger shell have different structures from the first rotating finger, and the rest of the structures are the same as the first rotating finger.
Further, all install buckle, buckle spring, fixed pin on first rotatory finger and the rotatory finger of second and 4 fixed fingers, the buckle passes through the fixed pin and links to each other with rotatory finger base or fixed finger base, is equipped with 2 buckle springs between two buckles.
Further, the automatic knuckle limiting mechanism is arranged between the middle knuckle and the root knuckle and comprises a left gear box body, a right gear box body, a first pinion, a second pinion, a miniature worm shaft, a miniature worm gear, a miniature motor, a first movable limiting block, a second movable limiting block, a middle knuckle limiting block, a pin shaft and a root knuckle side cover, wherein the miniature motor is arranged on the left gear box body of the automatic knuckle limiting mechanism, the second pinion is arranged on an output shaft of the miniature motor, the first pinion is arranged on the miniature worm shaft through interference fit, two ends of the miniature worm shaft are arranged in holes of the right gear box body and the left gear box body through bearing supports, the first pinion is meshed with the second pinion, the miniature worm gear is arranged on the pin shaft through interference fit and arranged in the holes of the right gear box body and the left gear box body through two bearing supports, the right gear box body is connected with the left gear box body through four screws, the first movable limiting block is in interference fit with a pin shaft, the pin shaft is installed in a connecting hole of the middle knuckle and the root knuckle, the second movable limiting block is in interference fit with the pin shaft, the two middle knuckle limiting blocks are fixedly connected with the middle knuckle, the left gearbox body is connected with the root knuckle through a screw, and the root knuckle side cover is connected with the root knuckle through two screws.
Further, the finger rotating mechanism comprises a gear base, a small stepping motor support, a small stepping motor, a small coupler, a worm wheel, a worm, two worm supports, a first gear shaft, a second gear shaft, a third gear shaft, a fourth gear shaft and a paw base, wherein the small stepping motor is connected with the small stepping motor support through four screws, the small stepping motor support is connected with the gear base through two screws, an output shaft of the small stepping motor is connected with the worm through the small coupler, bearings are arranged at two ends of the worm and are installed on the two worm supports, the two worm supports are connected with the gear base through the screws, the worm wheel is meshed with the worm wheel, the worm wheel is connected with the third gear shaft through a conical pin, bearings are respectively arranged at two ends of the first gear shaft, the second gear shaft, the third gear shaft and the fourth gear shaft and are installed between the gear base and the paw base, and the third gear shaft is respectively, The fourth gear shaft is meshed, the second gear shaft is meshed with the first gear shaft, a square open slot is formed in the first gear shaft, a finger rotating shaft upper connecting block of the first rotating finger is installed in the first gear shaft upper open slot, a square open slot is also formed in the fourth gear shaft, and a finger rotating shaft upper connecting block of the second rotating finger is installed in the fourth gear shaft upper open slot.
Further, the finger grabbing mechanism comprises a gear base, a large stepping motor, a large coupler, a ball screw, a nut, a moving platform and support columns, wherein the large stepping motor is connected with the gear base through four screws, an output shaft of the large stepping motor is connected with the ball screw through the large coupler, the gear base is connected with the paw base through three screws, bearings are installed at two ends of the ball screw and between the paw base and a palm, 6 support columns are installed between the paw base and the palm, the nut is sleeved on the ball screw, and the nut is connected with the moving platform through four screws.
Furthermore, a shell is arranged on the periphery of the gear base, the shell is connected with the paw base through four screws, the bottom cover is connected with the shell through four screws, and four threaded holes connected with the mechanical arm are reserved in the bottom cover.
The beneficial effects of the invention and the prior art are as follows:
1. an automatic knuckle limiting mechanism is adopted, so that a large object can be captured in an enveloping mode, and a small object can be pinched;
2. the limiting angle of the knuckle is automatically adjusted, and objects with different sizes are pinched;
3. the six-finger manipulator can adjust the number of fingers according to the use requirement, grab objects with different weights and is convenient to assemble and disassemble;
4. the finger rotating mechanism is adopted, so that not only can a spherical object be grabbed, but also a cylindrical object can be grabbed;
5. the ball screw is adopted to push the paw to open and close, so that the force for grabbing and pinching the object is accurately controlled;
6. the under-actuated fingers grab objects, the flexibility is good, and the objects are not easy to damage.
Drawings
FIG. 1 is a three-dimensional view of a modular manipulator with an automatic knuckle stop mechanism;
FIG. 2 is a top view of a modular robot with an automatic knuckle stop mechanism;
FIG. 3 is a block diagram of a modular robot finger rotation mechanism;
FIG. 4 is a bottom view of the modular robot with the bottom cover removed;
FIG. 5 is a first rotary finger block diagram of a modular robot;
FIG. 6 is an exploded view of a modular manipulator fixed finger;
FIG. 7 is a partial cross-sectional view of a modular robot in the direction of C-C;
FIG. 8 is a partial cross-sectional view of the modular robot taken along line D-D;
FIG. 9 is a schematic view of an automatic knuckle stop mechanism of a modular manipulator;
FIG. 10 is a sectional view of the structure of the automatic knuckle spacing mechanism of the modular manipulator;
FIG. 11 is a block diagram of a modular robot finger gripping mechanism;
FIG. 12 is a six state diagram of a modular robot;
wherein, 1-a first rotating finger, 2-a second rotating finger, 3-a fixed finger, 4-an automatic knuckle limiting mechanism, 5-a root knuckle, 6-a middle knuckle, 7-a tail knuckle, 8-a first connecting rod, 9-a second connecting rod, 10-a third connecting rod, 11-a fourth connecting rod, 12-a finger rotating shaft, 13-an upper rotating finger cover plate, 14-a push rod, 15-a moving platform, 16-an annular sliding block, 17-a rotating finger shell, 18-a rotating finger base, 19-a fixed pin, 20-a buckle, 21-a paw base, 22-a first gear shaft, 23-a second gear shaft, 24-a gear base, 25-a small stepping motor bracket, 26-a small stepping motor and 27-a small coupler, 28-worm wheel, 29-worm, 30-worm support, 31-third gear shaft, 32-fourth gear shaft, 33-nut, 34-ball screw, 35-fixed stopper, 36-cylindrical spring pin, 37-palm, 38-torsion spring, 39-root knuckle stopper, 40-square connecting block, 41-T-shaped guide rail, 42-fixed finger upper cover plate, 43-snap spring, 44-fixed finger base, 45-fixed finger housing, 46-snap stopper groove, 47-middle knuckle stopper, 48-first movable stopper, 49-left gear box, 50-right gear box, 51-micro worm shaft, 52-micro worm wheel, 53-first pinion, 54-micro motor, 55-root knuckle side cover, 56-second pinion, 57-second movable limiting block, 58-pin shaft, 59-large stepping motor, 60-large coupling, 61-supporting column, 62-shell and 63-bottom cover.
Detailed Description
The invention will be further explained with reference to the drawings and the specific examples below:
as shown in fig. 1 and 2, the modular manipulator with the automatic knuckle limiting mechanism comprises a first rotating finger (1), a second rotating finger (2), 4 fixed fingers (3), an automatic knuckle limiting mechanism (4), a finger rotating mechanism and a finger grabbing mechanism, wherein the first rotating finger (1), the second rotating finger (2) and the 4 fixed fingers (3) are uniformly distributed at an included angle of 60 degrees.
As shown in fig. 3, 5, 6 and 7, the first rotating finger (1) comprises a root knuckle (5), a middle knuckle (6), a tail end knuckle (7), an automatic knuckle limiting mechanism (4), a first connecting rod (8), a second connecting rod (9), a third connecting rod (10), a fourth connecting rod (11), a finger rotating shaft (12), a rotating finger upper cover plate (13), a push rod (14), an annular sliding block (16), a rotating finger shell (17), a rotating finger base (18), a fixed limiting block (35), a cylindrical spring pin (36) and a torsion spring (38).
The second rotating finger (2) is the same as the first rotating finger (1) in structure, only the groove opening direction of the second rotating finger upper cover plate is different from that of the rotating finger upper cover plate (13) because the rotating direction of the fingers is different, and the fixed finger (3) does not need to rotate, so that the fixed finger upper cover plate (42), the fixed finger base (44) and the fixed finger shell (45) are different from the first rotating finger (1) in structure, and the rest of the structures are the same as the first rotating finger in structure.
All install buckle (20), buckle spring (43), fixed pin (19) on first rotatory finger (1) and second rotatory finger (2) and 4 fixed fingers (3), buckle (20) link to each other with rotatory finger base (18) or fixed finger base (44) through fixed pin (19), are equipped with 2 buckle springs (43) between two buckles (20).
As shown in fig. 3, 5, 6, 7 and 8, when fingers are installed, the buckles (20) at two sides of the fingers are pressed, the cylindrical spring pins (36) are pressed down, then the T-shaped guide rails (41) at the bottoms of the fingers are pushed into the T-shaped grooves on the paw base (21), when the square connecting blocks (40) at the lower part of the finger rotating shafts (12) are pushed to the bottom to complete the installation of fixed fingers, when the square connecting blocks (40) at the lower part of the finger rotating shafts (12) are pushed into the square open grooves of the first gear shaft (22) and the fourth gear shaft (32), the installation of two rotating fingers is completed, at the moment, the annular groove on the annular sliding block (16) is matched with the upper arc-shaped surface of the moving platform (15), then the buckles (20) are released, the buckles (20) are bounced to two sides and clamped into the buckle limit grooves (46) on the paw base 221, and the cylindrical spring pins (36) are also bounced out and clamped in the round holes, the fingers will be securely fixed to the gripper base (21); if the fingers need to be detached, the buckles (20) at the two sides of the fingers are pressed, meanwhile, the cylindrical spring pins (36) are pressed down from the upper part of the palm (37), the fingers are pulled outwards along the T-shaped groove, and the fingers can be detached.
As shown in fig. 9 and 10, the automatic knuckle limiting mechanism (4) is installed between the middle knuckle (6) and the root knuckle (5), and includes a left gear box (49), a right gear box (50), a first pinion (53), a second pinion (56), a micro worm shaft (51), a micro worm wheel (52), a micro motor (54), a first movable limiting block (48), a second movable limiting block (57), a middle knuckle limiting block (47), a pin shaft (58) and a root knuckle side cover (55).
When knuckle limiting is needed, the micro motor (54) rotates forwards to drive the second pinion (56) to rotate, the second pinion (56) drives the first pinion (53) to rotate, the first pinion (53) drives the micro worm shaft (51) to rotate together, thereby the micro worm shaft (51) drives the micro worm wheel (52) to rotate, the pin shaft (58) and the micro worm wheel (52) rotate together, the pin shaft (58) drives the first movable limiting block (48) and the second movable limiting block (57) to rotate synchronously, when the micro motor (54) stops rotating, the first movable limiting block (48) and the second movable limiting block (57) also stop rotating along with the micro motor, the worm gear mechanism prevents the micro motor from reversing under the action of external force, at the moment, the first movable limiting block (48), the second movable limiting block (57) and the two middle knuckle limiting blocks (47) form a certain angle, thereby limiting the relative rotation angle of the middle knuckle (6) and the root knuckle (5).
When the knuckle limiting mechanism is not needed, the micro motor (54) is rotated reversely, the first movable limiting block (48) and the second movable limiting block (57) are rotated to the back of the two middle knuckle limiting blocks (47), and when the middle knuckle (6) rotates relative to the root knuckle (5), the middle knuckle limiting blocks (47) cannot be in contact with the first movable limiting block (48) and the second movable limiting block (57), so that the automatic knuckle limiting mechanism (4) does not play a limiting role.
As shown in fig. 3, 4 and 8, the finger rotating mechanism comprises a gear base (24), a small stepping motor bracket (25), a small stepping motor (26), a small coupler (27), a worm wheel (28), a worm (29), two worm supports (30), a first gear shaft (22), a second gear shaft (23), a third gear shaft (31), a fourth gear shaft (32) and a paw base (21).
The first rotating finger (1) and the second rotating finger (2) can rotate along with the finger rotating shaft (12) through a finger rotating mechanism, the small stepping motor (26) rotates forwards, the worm (29) is driven to rotate through the small coupler (27), the worm (29) drives the worm wheel (28) to rotate, the worm wheel (28) and the third gear shaft (31) rotate synchronously, the third gear shaft (31) drives the fourth gear shaft (32) and the second gear shaft (23) to rotate, the second gear shaft (23) drives the first gear shaft (22) to rotate, so that the first gear shaft (22) and the fourth gear shaft (32) rotate synchronously and oppositely, the first gear shaft (22) and the finger rotating shaft (12) are connected with the shape connecting block (40) above the finger rotating shaft (12) through the shape open slot above the first gear shaft (22), the first gear shaft (22) drives the finger rotating shaft (12) to rotate, and the finger rotating shaft (12) drives the first rotating finger (1) to rotate, in the same way, the second rotating finger (2) rotates along with the finger rotating shaft (12), and the first rotating finger (1) and the second rotating finger (2) can synchronously rotate by 60 degrees in opposite directions.
As shown in fig. 11, the finger grasping mechanism includes a gear base (24), a large stepping motor (59), a large coupling (60), a ball screw (34), a nut (33), a moving platform (15), and a support column (61).
Big step motor (59) rotate, drive ball (34) through big shaft coupling (60) and rotate, ball (34) drive nut (33) and move along ball (34), moving platform (15) move along with indicating nut (33) to drive annular slider (16) of finger and reciprocate along finger pivot (12), annular slider (16) drive push rod (14) and move, push rod (14) promote the finger and open the closure.
As shown in fig. 3, 5, 10, 11, and 12, the whole robot has 6 fingers, and the number and the state of the fingers can be adjusted according to the object to be grasped.
When the spherical object is to be captured in an enveloping manner, 6 fingers can be used for capturing in a centering manner, and 3 fixed fingers (3) can also be detached, so that the remaining 3 fingers are distributed at 120 degrees, and the light spherical object is captured by the 3 fingers in a centering manner. At the moment, a micro motor (54) in the automatic knuckle limiting mechanism (4) rotates, so that the first movable limiting block (48) and the second movable limiting block (57) rotate to the back of the two middle knuckle limiting blocks (47), and the automatic knuckle limiting mechanism (4) does not play a limiting role; the large stepping motor (59) rotates positively, the ball screw (34) is driven to rotate through the large coupler (60), the ball screw (34) drives the nut (33) to move upwards along the ball screw (34), the moving platform (15) moves along with the nut (33), the annular sliding block (16) of the fingers is driven to move upwards along the finger rotating shaft (12), the annular sliding block (16) drives the push rod (14) to move upwards, the push rod (14) pushes the fingers to close together, when the root knuckles (5) contact an object, the torsion spring (38) between the root knuckles (5) and the second connecting rod (9) is restrained and released, when the middle knuckles (6) contact the object, the torsion spring (38) between the middle knuckles (6) and the tail knuckles (7) is restrained and released, and when the tail knuckles (7) grip the object, the large stepping motor (59) stops rotating.
When a cylindrical object is to be captured in an enveloping manner, the micro motor (54) in the automatic knuckle limiting mechanism (4) rotates at the moment, so that the first movable limiting block (48) and the second movable limiting block (57) rotate to the rear of the two middle knuckle limiting blocks (47), and the automatic knuckle limiting mechanism (4) does not play a limiting role; the small stepping motor (26) rotates forwards, the worm (29) is driven to rotate through the small coupler (27), the worm (29) drives the worm wheel (28) to rotate, the worm wheel (28) and the third gear shaft (31) rotate synchronously, the third gear shaft (31) drives the fourth gear shaft (32) and the second gear shaft (23) to rotate, the second gear shaft (23) drives the first gear shaft (22) to rotate, so that the first gear shaft (22) and the fourth gear shaft (32) rotate synchronously and oppositely, the first gear shaft (22) and the finger rotating shaft (12) are connected through a square open slot and a square connecting block, the first gear shaft (22) drives the finger rotating shaft (12) to rotate, the finger rotating shaft (12) drives the first rotating finger (1) to rotate, the second rotating finger (2) rotates in a same way, and the first rotating finger (1) and the second rotating finger (2) rotate synchronously and oppositely for 60 degrees, the small stepping motor (26) stops rotating; then the large stepping motor (59) rotates positively, the ball screw (34) is driven to rotate by the large coupling (60), the ball screw (34) drives the nut (33) to move upwards along the ball screw (34), the moving platform (15) moves along with the nut (33), thereby driving the annular slide block (16) of the finger to move upwards along the finger rotating shaft (12), the annular slide block (16) drives the push rod (14) to move upwards, the push rod (14) pushes the finger to close together, when the root knuckle (5) contacts an object, the torsion spring (38) between the root knuckle (5) and the second connecting rod (9) restrains and is released, after the middle knuckle (6) contacts the object, the torsion spring (38) between the middle knuckle (6) and the end knuckle (7) is restrained and released, when the end knuckle (7) grasps the object, the large stepping motor (59) stops rotating.
When the spherical object is to be pinched, 6 fingers can be used for pinching in a centering manner, and 3 fixed fingers can be detached, so that the remaining 3 fingers are distributed at 120 degrees, and the light spherical object is pinched by the 3 fingers in a centering manner. At the moment, the micro motor (54) in the automatic knuckle limiting mechanism (4) rotates, so that the first movable limiting block (48) and the second movable limiting block (57) rotate to the front of the two middle knuckle limiting blocks (47) to form a proper angle, the micro motor (54) stops rotating, and the adjustment of the automatic knuckle limiting mechanism (4) is finished; the large stepping motor (59) rotates positively, the ball screw (34) is driven to rotate through the large coupler (60), the ball screw (34) drives the nut (33) to move upwards along the ball screw (34), the moving platform (15) moves along with the nut (33), so that the annular sliding block (16) of the fingers is driven to move upwards along the finger rotating shaft (12), the annular sliding block (16) drives the push rod (14) to move upwards, and the push rod (14) pushes the fingers to close together; at the moment, the root knuckle limiting block (39) rotates along with the root knuckle (5) until the limiting effect is achieved after the root knuckle limiting block is contacted with the fixed limiting block (35), the root knuckle (5) stops rotating, the torsion spring (38) between the root knuckle (5) and the second connecting rod (9) is restrained and released, the two middle knuckle limiting blocks (47) rotate along with the middle knuckle (6) until the limiting effect is achieved after the two middle knuckle limiting blocks (47) are contacted with the first movable limiting block (48) and the second movable limiting block (57), the middle knuckle (6) stops rotating, the tail end knuckle (7) rotates relative to the middle knuckle (6), and the large stepping motor (59) stops rotating until the tail end knuckle (7) pinches an object.
When a cylindrical object is to be pinched, the micro motor (54) in the automatic knuckle limiting mechanism (4) rotates at the moment, so that the first movable limiting block (48) and the second movable limiting block (57) rotate to the front of the two middle knuckle limiting blocks (47) to form a proper angle, the micro motor (54) stops rotating, and the adjustment of the automatic knuckle limiting mechanism (4) is finished; the small stepping motor (26) rotates forwards, the worm (29) is driven to rotate through the small coupler (27), the worm (29) drives the worm wheel (28) to rotate, the worm wheel (28) and the third gear shaft (31) rotate synchronously, the third gear shaft (31) drives the fourth gear shaft (32) and the second gear shaft (23) to rotate, the second gear shaft (23) drives the first gear shaft (22) to rotate, so that the first gear shaft (22) and the fourth gear shaft (32) rotate synchronously and oppositely, the first gear shaft (22) and the finger rotating shaft (12) are connected through a square open slot and a square connecting block, the first gear shaft (22) drives the finger rotating shaft (12) to rotate, the finger rotating shaft (12) drives the first rotating finger (1) to rotate, the second rotating finger (2) rotates along with the finger rotating shaft (12) in a similar mode, and the first rotating finger and the second rotating finger rotate synchronously and oppositely for 60 degrees, the small stepping motor (26) stops rotating; then a large stepping motor (59) rotates forwards, the ball screw (34) is driven to rotate through a large coupler (60), the ball screw (34) drives a nut (33) to move upwards along the ball screw (34), a moving platform (15) moves along with the nut (33), so that an annular sliding block (16) of a finger is driven to move upwards along a finger rotating shaft (12), the annular sliding block (16) drives a push rod (14) to move upwards, the push rod (14) pushes the finger to close together, at the moment, a root knuckle limiting block (39) rotates along with a root knuckle (5) until a limiting position is effective after the root knuckle limiting block is contacted with a fixed limiting block (35), the root knuckle (5) stops rotating, the torsional spring (38) between the root knuckle (5) and a second connecting rod (9) restrains and is released, two middle knuckle limiting blocks (47) rotate along with a middle knuckle (6) until the two middle knuckle limiting blocks (47) and a first movable limiting block (48) are rotated, After the second movable limiting block (57) is contacted, the limiting effect is achieved, the middle knuckle (6) stops rotating, the tail end knuckle (7) rotates relative to the middle knuckle (6) until the tail end knuckle (7) pinches an object, and the large stepping motor (59) stops rotating.
Big step motor (59) reversal, drive ball (34) through big shaft coupling (60) and rotate, ball (34) drive nut (33) along ball (34) downstream, moving platform (15) move along with nut (33) together to drive annular slider (16) of finger along finger pivot (12) downstream, annular slider (16) drive push rod (14) downstream, push rod (14) pulling finger opens together, unclamp the object by grabbing.
The present invention provides a modular manipulator with an automatic knuckle limiting mechanism, which is only a preferred implementation method of the present invention, and it should be noted that, for those skilled in the art, several modifications can be made without departing from the principle of the present invention, and these modifications should be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a take automatic knuckle stop gear's modularization manipulator, its characterized in that, the manipulator includes that first rotatory finger (1), the rotatory finger of second (2), 4 fixed fingers (3), automatic knuckle stop gear (4), finger slewing mechanism, finger snatch the mechanism, and first rotatory finger (1), the rotatory finger of second (2) and 4 fixed fingers (3) are 60 contained angles evenly distributed.
2. The modular manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein the first rotating finger (1) comprises a root knuckle (5), a middle knuckle (6), a tail end knuckle (7), an automatic knuckle limiting mechanism (4), a first connecting rod (8), a second connecting rod (9), a third connecting rod (10), a fourth connecting rod (11), a finger rotating shaft (12), a rotating finger upper cover plate (13), a push rod (14), an annular sliding block (16), a rotating finger shell (17), a rotating finger base (18), a fixed limiting block (35), a cylindrical spring pin (36) and a torsion spring (38), the tail end knuckle (7) is respectively connected with the middle knuckle (6) and the first connecting rod (8) through a pin shaft, the torsion spring (38) is installed between the tail end knuckle (7) and the middle knuckle (6), and the torsion spring (38) is sleeved on the pin shaft, the middle knuckle (6) is connected with the root knuckle (5) and the second connecting rod (9) through a pin shaft (58) in the automatic knuckle limiting mechanism, a torsion spring (38) is installed between the root knuckle (5) and the second connecting rod (9), the torsion spring (38) is sleeved on the pin shaft (58), the root knuckle (5) is provided with a root knuckle limiting block (39), the first connecting rod (8) is connected with the second connecting rod (9) through a pin shaft, the second connecting rod (9) is connected with the third connecting rod (10) through a pin shaft, the third connecting rod (10) is connected with the fourth connecting rod (11) through a pin shaft, the fourth connecting rod (11) is connected with the root knuckle (5) and the finger rotating shaft (12) through a pin shaft, the push rod (14) is respectively connected with the fourth connecting rod (11) and the annular slider (16), the annular slider (16) is in clearance fit with the finger rotating shaft (12), and the annular slider (16) is also in clearance fit with the moving platform (15), fixed stopper (35) and finger pivot (12) interference fit, install between rotatory finger upper cover plate (13) and rotatory finger base (18) by the bearing support at finger pivot (12) both ends, there is square connecting block (40) finger pivot (12) lower part, rotatory finger shell (17) link to each other with rotatory finger upper cover plate (13) and rotatory finger base (18) respectively through the screw, there is T shape guide rail (41) on rotatory finger base (18), cylindrical spring catch (36) and rotatory finger upper cover plate (13) interference fit.
3. The modular manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein the second rotating finger (2) has the same structure as the first rotating finger (1), only because the rotating direction of the fingers is different, the slotting direction of the second rotating finger upper cover plate is different from that of the rotating finger upper cover plate (13), and the fixed finger (3) does not need to rotate, so the fixed finger upper cover plate (42), the fixed finger base (44) and the fixed finger shell (45) have different structures from the first rotating finger (1), and the rest of the structures are the same as the first rotating finger.
4. The modular manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein the first rotating finger (1), the second rotating finger (2) and 4 fixing fingers (3) are respectively provided with a buckle (20), a buckle spring (43) and a fixing pin (19), the buckle (20) is connected with the rotating finger base (18) or the fixing finger base (44) through the fixing pin (19), and 2 buckle springs (43) are arranged between the two buckles (20).
5. The modular manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein the automatic knuckle limiting mechanism (4) is installed between the middle knuckle (6) and the root knuckle (5) and comprises a left gear box body (49), a right gear box body (50), a first pinion (53), a second pinion (56), a micro worm shaft (51), a micro worm wheel (52), a micro motor (54), a first movable limiting block (48), a second movable limiting block (57), a middle knuckle limiting block (47), a pin shaft (58) and a root knuckle side cover (55), the micro motor (54) is installed on the left gear box body (49) of the automatic knuckle limiting mechanism (4), the second pinion (56) is installed on an output shaft of the micro motor (54), and the first pinion (53) is installed on the micro shaft (51) through interference fit, two ends of a miniature worm shaft (51) are supported and arranged in holes of a right gear box body (50) and a left gear box body (49) by bearings, a first pinion (53) and a second pinion (56) are meshed, a miniature worm wheel (52) is arranged on a pin shaft (58) in an interference fit manner and is supported and arranged in the holes of the right gear box body (50) and the left gear box body (49) by two bearings, the right gear box body (50) and the left gear box body (49) are connected by four screws, a first movable limiting block (48) is in interference fit with the pin shaft (58), the pin shaft (58) is arranged in a connecting hole of a middle knuckle (6) and a root knuckle (5), a second movable limiting block (57) is in interference fit with the pin shaft (58), two middle knuckle limiting blocks (47) are fixedly connected with the middle knuckle (6), the left gear box body (49) is connected with the root knuckle (5) by screws, the root knuckle side cover (55) is connected with the root knuckle (5) by two screws.
6. The modular manipulator with the automatic knuckle limiting mechanism is characterized in that the finger rotating mechanism comprises a gear base (24), a small stepping motor support (25), a small stepping motor (26), a small coupler (27), a worm gear (28), a worm (29), two worm supports (30), a first gear shaft (22), a second gear shaft (23), a third gear shaft (31), a fourth gear shaft (32) and a paw base (21), wherein the small stepping motor (26) is connected with the small stepping motor support (25) through four screws, the small stepping motor support (25) is connected with the gear base (24) through two screws, an output shaft of the small stepping motor (26) is connected with the worm (29) through the small coupler (27), two ends of the worm (29) are provided with bearings and are mounted on the two worm supports (30), two worm supports (30) are connected with a gear base (24) through screws, a worm (29) is meshed with a worm wheel (28), the worm wheel (28) is connected with a third gear shaft (31) through a conical pin, two ends of the first gear shaft (22), the second gear shaft (23), the third gear shaft (31) and the fourth gear shaft (32) are respectively provided with a bearing to be installed between the gear base (24) and a paw base (21), the third gear shaft (31) is respectively meshed with the second gear shaft (23) and the fourth gear shaft (32), the second gear shaft (23) is meshed with the first gear shaft (22), the first gear shaft (22) is provided with a square open slot, a square connecting block (40) above a finger rotating shaft (12) of a first rotating finger is installed in the square open slot above the first gear shaft (22), a square open slot is also formed on the fourth gear shaft (32), a square connecting block (40) above a finger rotating shaft (12) of the second rotating finger is installed above the fourth gear shaft (32) The shape is in the opening groove.
7. The modular manipulator of claim 1 with an automatic knuckle stop mechanism, the finger grabbing mechanism is characterized by comprising a gear base (24), a large stepping motor (59), a large coupler (60), a ball screw (34), a nut (33), a moving platform (15) and supporting columns (61), wherein the large stepping motor (59) is connected with the gear base (24) through four screws, an output shaft of the large stepping motor (59) is connected with the ball screw (34) through the large coupler (60), the gear base (24) is connected with a paw base (21) through three screws, bearings are installed at two ends of the ball screw (34) and between the paw base (21) and a palm (37), 6 supporting columns (61) are installed between the paw base (21) and the palm (37), the nut (33) is sleeved on the ball screw (34), and the nut (33) is connected with the moving platform (15) through four screws.
8. The modular manipulator of claim 7, wherein the gear base (24) has a housing (62) around it, the housing (62) is connected to the gripper base (21) by four screws, and the bottom cover (63) is connected to the housing by four screws, and four screw holes are left in the bottom cover for connection to the robot arm.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113664860A (en) * | 2021-08-26 | 2021-11-19 | 哈工大机器人创新中心有限公司 | Self-lockable three-finger robot dexterous hand |
| CN114851238A (en) * | 2022-04-18 | 2022-08-05 | 北京理工大学 | Multi-claw gripper capable of automatically enveloping, clamping and rebounding |
| CN115042220A (en) * | 2022-05-18 | 2022-09-13 | 哈尔滨工业大学 | Modal switching device |
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| CN210819604U (en) * | 2019-10-31 | 2020-06-23 | 南京林业大学 | Under-actuated manipulator with knuckle limiting mechanism |
| CN213562667U (en) * | 2020-10-28 | 2021-06-29 | 南京林业大学 | Modular manipulator with automatic knuckle limiting mechanism |
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| US20170252930A1 (en) * | 2014-09-12 | 2017-09-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN210819604U (en) * | 2019-10-31 | 2020-06-23 | 南京林业大学 | Under-actuated manipulator with knuckle limiting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113664860A (en) * | 2021-08-26 | 2021-11-19 | 哈工大机器人创新中心有限公司 | Self-lockable three-finger robot dexterous hand |
| CN114851238A (en) * | 2022-04-18 | 2022-08-05 | 北京理工大学 | Multi-claw gripper capable of automatically enveloping, clamping and rebounding |
| CN114851238B (en) * | 2022-04-18 | 2024-02-06 | 北京理工大学 | Multi-claw clamp holder capable of automatically enveloping, clamping and rebounding |
| CN115042220A (en) * | 2022-05-18 | 2022-09-13 | 哈尔滨工业大学 | Modal switching device |
| CN115042220B (en) * | 2022-05-18 | 2024-10-18 | 哈尔滨工业大学 | Modal switching device |
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| CN112248025B (en) | 2024-06-07 |
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