CN112248025B - Modularized manipulator with automatic knuckle limiting mechanism - Google Patents
Modularized manipulator with automatic knuckle limiting mechanism Download PDFInfo
- Publication number
- CN112248025B CN112248025B CN202011175916.2A CN202011175916A CN112248025B CN 112248025 B CN112248025 B CN 112248025B CN 202011175916 A CN202011175916 A CN 202011175916A CN 112248025 B CN112248025 B CN 112248025B
- Authority
- CN
- China
- Prior art keywords
- finger
- knuckle
- rotating
- shaft
- gear
- Prior art date
- 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.)
- Active
Links
- 230000000670 limiting effect Effects 0.000 title claims abstract description 94
- 210000000078 claw Anatomy 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modularized 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, wherein the fingers of the manipulator can be assembled and disassembled, simultaneously the first rotating finger and the second rotating finger can synchronously rotate 60 degrees in opposite directions, spherical objects with different enveloping grabbing weights and enveloping grabbing cylindrical objects can be realized according to the quantity and distribution state of grabbing objects, when the automatic knuckle limiting mechanism plays a limiting role, the spherical objects with different pinching weights and pinching cylindrical objects can also be realized, the manipulator can automatically adjust the limiting angle of knuckles, control enveloping grabbing and pinching objects with different sizes, and the ball screw is used for pushing the claws to open and close so as to realize accurate control of grabbing and pinching the object force.
Description
Technical Field
The invention relates to the technical field of automatic mechanical equipment, in particular to a modularized manipulator with an automatic knuckle limiting mechanism.
Background
The manipulator is an automatic mechanical device capable of grabbing and carrying objects. The existing manipulator has the following problems: (1) The joint part of the mechanical finger is usually the most vulnerable place, the maintenance and replacement parts of the mechanical arm with an integral structure are complex in operation and long in time consumption; (2) The number and the positions of the fingers of the mechanical hand are fixed, and the number and the positions of the fingers cannot be adjusted according to the needs; (3) Only can grasp objects with specific shapes and sizes by using specific gestures, smaller objects cannot be pinched, and the universality is poor; (4) Rigid grabbing is not flexible enough, grabbing force is difficult to grasp, and objects to be grabbed are easy to damage; (5) The volume is big, the structure is more complicated, space utilization is not high, manufacturing cost is expensive.
The modularized design thought is adopted by the fingers of the modularized manipulator, the fingers are convenient to replace during maintenance, plug and play is realized, and the number of the fingers can be selected according to the needs; each finger is provided with an automatic knuckle limiting mechanism, so that not only can the large objects be enveloped and grabbed, but also the knuckle limiting angles can be automatically adjusted to pinch the small objects with different sizes; wherein, two fingers can automatically rotate, the included angle between the fingers is adjusted to adapt to grabbing cylinders or spheres, and a motor is utilized to drive a ball screw, so that the claws are pushed to open and close, and the force of grabbing and pinching objects can be accurately controlled; the finger adopts underactuation, can compliance snatch the object, and not fragile snatched object, and the structure is simpler, and equipment volume is less, can use in narrow space, and manufacturing cost is lower.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses a modularized manipulator with an automatic knuckle limiting mechanism, which adopts the automatic knuckle limiting mechanism to automatically adjust knuckle limiting angles, so that the modularized manipulator can envelope and grasp larger objects and pinch smaller objects; the finger rotating mechanism is adopted, so that not only can spherical objects be grabbed, but also cylindrical objects can be grabbed; the number of fingers can be regulated according to the use requirement, different objects are grabbed, and the ball screw is adopted to push the claws to open and close, so that the accurate control of the force for grabbing and pinching the objects is 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 first rotatory finger, second rotatory finger, 4 fixed fingers, automatic knuckle stop gear, finger slewing mechanism, finger snatch mechanism, and first rotatory finger, second rotatory finger and 4 fixed fingers are 60 contained angles evenly distributed.
Further, first rotatory finger includes root knuckle, middle part knuckle, terminal knuckle, automatic knuckle stop gear, first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the finger pivot, rotatory finger upper cover plate, the push rod, annular slider, rotatory finger shell, rotatory finger base, fixed stopper, the cylinder spring round pin, the torsional spring, terminal knuckle links to each other with middle part knuckle and first connecting rod respectively through the round pin axle, install the torsional spring between terminal knuckle and the middle part knuckle, torsion spring cover is at the epaxial, the middle part knuckle is through the root knuckle of round pin hub connection and second connecting rod in the automatic knuckle stop gear, install the torsional spring between root knuckle and the second connecting rod, torsion spring cover is at the epaxial, root knuckle stopper has on the root knuckle, first connecting rod links to each other with the second connecting rod through the round pin axle, the third connecting rod links to each other through round pin axle and fourth connecting rod, the fourth connecting rod is connected with annular slider through round pin axle and fourth connecting rod respectively through round pin axle, annular slider and pivot clearance fit, annular slider is also clearance fit with the pivot, the annular slider is clearance fit with the rotating finger base through the round pin axle, install the round pin axle clearance fit with the rotation seat is also has the rotation finger base through the round pin axle clearance fit with the round pin seat, the upper finger base, the rotation seat is rotated the finger top.
Further, the second rotating finger is identical to the first rotating finger in structure, only because the finger rotating directions are different, the slotting directions of the second rotating finger upper cover plate and the rotating finger upper cover plate are different, and the fixed finger is not required to rotate because of the fixed finger upper cover plate, the fixed finger base and the fixed finger shell are different from the first rotating finger in structure, and the rest of the fixed finger upper cover plate, the fixed finger base and the fixed finger shell are identical to the first rotating finger in structure.
Furthermore, the first rotating finger, the second rotating finger and the 4 fixed fingers are provided with buckles, buckle springs and fixing pins, the buckles are connected with the rotating finger base or the fixed finger base through the fixing pins, and 2 buckle springs are arranged between the two buckles.
Further, automatic knuckle stop gear installs between middle part knuckle and root knuckle, including left side gear box, right side gear box, first pinion, the second pinion, miniature worm axle, miniature worm wheel, miniature motor, first movable stopper, the second movable stopper, middle part knuckle stopper, the round pin axle, root knuckle side cap, settle miniature motor on automatic knuckle stop gear left side gear box, the second pinion is installed on miniature motor output shaft, first pinion installs on miniature worm axle through interference fit, miniature worm axle both ends are installed in right side gear box and left gear box body hole with the bearing support, and first pinion and second pinion mesh mutually, miniature worm wheel installs on the round pin axle through interference fit, and install in right side gear box and left side gear box body hole with two bearing supports, right side gear box and left side gear box body pass through four screw connections, first movable stopper and round pin axle interference fit, the round pin axle is installed in the connecting hole of middle part knuckle and root festival, second movable stopper and round pin axle interference fit, two middle part knuckle root and left side cap root links to each other with two knuckle screw through two and links firmly with the knuckle.
Further, finger slewing mechanism includes gear base, little step motor support, little step motor, little shaft coupling, the worm wheel, the worm, two worm supports, first gear shaft, the second gear shaft, the third gear shaft, the fourth gear shaft, the paw base, little step motor passes through four screws and links to each other with little step motor support, little step motor support passes through two screws and links to each other with the gear base, little step motor's output shaft passes through little shaft coupling and links to each other with the worm, the bearing is installed at two worm supports is equipped with at the worm both ends, two worm supports pass through the screw and link to each other with the worm wheel, the worm wheel passes through the round pin and links to each other with the third gear shaft, first gear shaft, the second gear shaft, the third gear shaft, the fourth gear shaft both ends are equipped with the bearing respectively and are installed between gear base and paw base, the third gear shaft meshes with the second gear shaft respectively, the fourth gear shaft, the second gear shaft meshes with the first gear shaft, and open square open slot on the first gear shaft, square open square gear shaft is installed in the first gear shaft top, open square open slot on the fourth gear shaft also, open square open slot on the square connecting block on the square shaft of the finger pivot, the square connecting block is installed in the finger top of the finger joint piece.
Further, the finger snatchs mechanism includes gear base, big step motor, big shaft coupling, ball, nut, moving platform, support column, big step motor passes through four screws and links to each other with gear base, big step motor's output shaft passes through big shaft coupling and links to each other with ball, gear base passes through three screws and links to each other with the hand claw base, ball both ends are equipped with the bearing and are installed between hand claw base and palm, install 6 support columns between hand claw base and the palm, the nut cover is on ball, the nut passes through four screws and links to each other with moving platform.
Further, the periphery of the gear base is provided with a shell, 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 on the bottom cover.
The beneficial effects of the invention compared with the prior art are as follows:
1. by adopting the automatic knuckle limiting mechanism, the device can not only envelop and grasp larger objects, but also pinch smaller objects;
2. automatically adjusting the limiting angle of the knuckle and controlling pinching of objects with different sizes;
3. the six-finger mechanical arm can adjust the number of fingers according to the use requirement, grasp objects with different weights and is convenient to assemble and disassemble;
4. the finger rotating mechanism is adopted, so that not only can spherical objects be grabbed, but also cylindrical objects can be grabbed;
5. The ball screw is adopted to push the claws to open and close, so that the accurate control of the force for grabbing and pinching the object is realized;
6. the underactuated finger grabs the object, so that the flexibility is good, and the object is 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 manipulator with an automatic knuckle stop mechanism;
FIG. 3 is a block diagram of a modular manipulator finger rotation mechanism;
FIG. 4 is a bottom view of the modular robot with the bottom cover removed;
FIG. 5 is a diagram of a first rotating finger configuration of the modular manipulator;
FIG. 6 is an exploded view of a modular manipulator stationary finger;
FIG. 7 is a partial cross-sectional view of the modular manipulator C-C;
FIG. 8 is a partial cross-sectional view of a modular manipulator D-D;
FIG. 9 is a schematic view of a modular manipulator automatic knuckle stop mechanism;
FIG. 10 is a cross-sectional view of the modular manipulator automatic knuckle stop mechanism;
FIG. 11 is a block diagram of a modular manipulator finger gripping mechanism;
FIG. 12 is a diagram of six states of a modular manipulator;
Wherein 1-first rotating finger, 2-second rotating finger, 3-fixed finger, 4-automatic knuckle limiting mechanism, 5-root knuckle, 6-middle knuckle, 7-end knuckle, 8-first link, 9-second link, 10-third link, 11-fourth link, 12-finger rotating shaft, 13-rotating finger upper cover plate, 14-push rod, 15-moving platform, 16-annular slider, 17-rotating finger housing, 18-rotating finger base, 19-fixed pin, 20-buckle, 21-paw base, 22-first gear shaft, 23-second gear shaft, 24-gear base, 25-small stepper motor bracket, 26-small stepper motor, 27-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 guide rail, 42-fixed finger upper cover plate, 43-snap spring, 44-fixed finger base, 45-fixed finger housing, 46-snap limit 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-support column, 62-outer shell and 63-bottom cover.
Detailed Description
The invention will be further explained with reference to the drawings and specific examples:
As shown in fig. 1 and 2, the modularized 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 in a 60-degree included angle.
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 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 identical to the first rotating finger (1) in structure, only because the finger rotating directions are different, the second rotating finger upper cover plate is different from the rotating finger upper cover plate (13) in slotting direction, and the fixed finger (3) is not required to rotate because of the fact 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 fixed finger upper cover plate is identical to the first rotating finger in structure.
The first rotating finger (1), the second rotating finger (2) and the 4 fixed fingers (3) are provided with a buckle (20), a buckle spring (43) and a fixed pin (19), the buckle (20) is connected with the rotating finger base (18) or the fixed finger base (44) through the fixed pin (19), and 2 buckle springs (43) are arranged between the two buckles (20).
As shown in fig. 3, 5,6,7 and 8, when the finger is mounted, the buckle (20) on two sides of the finger is pressed down, the cylindrical spring pin (36) is pressed down, then the T-shaped guide rail (41) at the bottom of the finger is pushed into the T-shaped groove on the finger base (21), when the square connecting block (40) at the lower part of the finger rotating shaft (12) is pushed to the bottom to finish the mounting of the fixed finger, when the square connecting block (40) at the lower part of the finger rotating shaft (12) is pushed into the square opening grooves of the first gear shaft (22) and the fourth gear shaft (32), the mounting of two rotating fingers is finished, at the moment, the annular groove on the annular sliding block (16) is matched with the arc-shaped surface on the movable platform (15), then the buckle (20) is released, the buckle (20) is sprung open towards two sides and is clamped into the buckle limiting groove (46) on the finger base (221), and meanwhile the cylindrical spring pin (36) is sprung out and clamped into the round hole of the palm (37) to be reliably fixed on the finger base (21); when the fingers are to be detached, the fingers can be detached by pressing the buckles (20) on two sides of the fingers and simultaneously pressing the cylindrical spring pins (36) from the upper part of the palm (37) to pull the fingers outwards along the T-shaped grooves.
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 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).
When the knuckle is required to be limited, the micro motor (54) rotates positively, the second pinion (56) is driven 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, 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 synchronously rotate, after the micro motor (54) stops rotating, the first movable limiting block (48) and the second movable limiting block (57) stop rotating along with the rotation, the worm and gear mechanism is prevented from being reversely rotated under the action of external force, and 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, so that the relative rotation angles of the middle knuckle (6) and the root knuckle (5) are limited.
When the knuckle is not needed to be limited, the micro motor (54) is reversed, 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) are not contacted 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 the finger rotating mechanism, the small stepping motor (26) rotates positively, 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) synchronously rotate, 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, and accordingly the first gear shaft (22) and the fourth gear shaft (32) synchronously rotate in opposite directions, the first gear shaft (22) is connected with the finger rotating shaft (12) through a square opening groove on the first gear shaft (22) and a square connecting block (40) on the finger rotating shaft (12), the first gear shaft (22) drives the finger rotating shaft (12) to rotate, the first rotating finger (1) is driven to rotate in the same way, the second rotating finger (2) follows the finger rotating shaft (12) to rotate, and the first rotating finger (1) and the second rotating finger (2) can synchronously rotate in opposite directions by 60 degrees.
As shown in fig. 11, the finger gripping 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).
The large stepping motor (59) rotates, the ball screw (34) is driven to rotate through the large coupling (60), the ball screw (34) drives the nut (33) to move along the ball screw (34), the moving platform (15) moves along with the finger nut (33), and accordingly the annular sliding block (16) of the finger is driven to move up and down along the finger rotating shaft (12), the annular sliding block (16) drives the push rod (14) to move, and the push rod (14) pushes the finger to open and close.
As shown in fig. 3, 5, 10, 11 and 12, the whole manipulator has 6 fingers, and the number and state of the fingers can be adjusted according to the object to be grasped.
When the spherical object is to be enveloped and grabbed, 6 fingers can be adopted for centering and grabbing, and 3 fixed fingers (3) can be disassembled, so that the rest 3 fingers are distributed at 120 degrees, and the 3 fingers can be used for centering and grabbing a lighter spherical object. At the moment, a micro motor (54) in the automatic knuckle limiting mechanism (4) rotates, so that a first movable limiting block (48) and a second movable limiting block (57) rotate to the back of 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 finger 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 finger to be closed together, after the root knuckle (5) contacts an object, the constraint of the torsion spring (38) between the root knuckle (5) and the second connecting rod (9) is released, after the middle knuckle (6) contacts the object, the constraint of the torsion spring (38) between the middle knuckle (6) and the tail end knuckle (7) is released, and when the tail end knuckle (7) grasps the object, the large stepping motor (59) stops rotating.
When a cylindrical object is to be enveloped and grabbed, a miniature motor (54) in the automatic knuckle limiting mechanism (4) rotates at the moment, so that a first movable limiting block (48) and a second movable limiting block (57) rotate to the back of 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 positively, 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 synchronously and oppositely, the first gear shaft (22) is connected with the finger rotating shaft (12) through a square opening groove 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 synchronously and oppositely, and the first rotating finger (1) and the second rotating finger (2) rotate synchronously and oppositely by 60 degrees, and the small stepping motor (26) stops rotating; then 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 finger 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 finger to be closed together, after the root knuckle (5) contacts an object, the constraint of the torsion spring (38) between the root knuckle (5) and the second connecting rod (9) is released, after the middle knuckle (6) contacts the object, the constraint of the torsion spring (38) between the middle knuckle (6) and the tail end knuckle (7) is released, the object is gripped by the tail end knuckle (7), and the large stepping motor (59) stops rotating.
When the spherical object is to be pinched, 6 fingers can be adopted to pinch the spherical object, and 3 fixed fingers can be detached, so that the rest 3 fingers are distributed at 120 degrees, and the 3 fingers pinch the lighter spherical object. 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 form a proper angle in front of the two middle knuckle limiting blocks (47), the micro motor (54) stops rotating, and the automatic knuckle limiting mechanism (4) is adjusted; the large stepping motor (59) rotates positively, the ball screw (34) is driven to rotate through 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 together with the nut (33), so that the annular sliding block (16) of the finger 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 finger to be closed together; at this time, the root knuckle limiting block (39) rotates along with the root knuckle (5) until the root knuckle limiting block is in effect after being contacted with the fixed limiting block (35), the root knuckle (5) stops rotating, the constraint of the torsion spring (38) between the root knuckle (5) and the second connecting rod (9) is released, the two middle knuckle limiting blocks (47) rotate along with the middle knuckle (6) until the two middle knuckle limiting blocks (47) rotate until the two middle knuckle limiting blocks (47) are in effect after being contacted with the first movable limiting block (48) and the second movable limiting block (57), the middle knuckle (6) stops rotating, the tail knuckle (7) rotates relative to the middle knuckle (6) until the tail knuckle (7) is tightly pinched, and the large stepping motor (59) stops rotating.
When a cylindrical object is to be pinched, a micro motor (54) in the automatic knuckle limiting mechanism (4) rotates at the moment, so that a first movable limiting block (48) and a second movable limiting block (57) rotate to the front parts of two middle knuckle limiting blocks (47) to form a proper angle, the micro motor (54) stops rotating, and the automatic knuckle limiting mechanism (4) is adjusted; the small stepping motor (26) rotates positively, the worm (29) is driven to rotate through the small coupling (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) is connected with the finger rotating shaft (12) through a square opening groove 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), the first rotating finger and the second rotating finger synchronously rotate oppositely by 60 degrees, and the small stepping motor (26) stops rotating; then 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), and accordingly the annular sliding block (16) of the finger 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 finger to be closed together, at the moment, the root knuckle limiting block (39) rotates along with the root knuckle (5) until limiting effect is achieved after the root knuckle (5) contacts with the fixed limiting block (35), the rotation of the root knuckle (5) is stopped, the torsion spring (38) constraint between the root knuckle (5) and the second connecting rod (9) is released, the two middle knuckle limiting blocks (47) rotate along with the middle knuckle (6) until the two middle knuckle limiting blocks (47) contact with the first movable limiting block (48) and the second movable limiting block (57) and then stop rotating, the middle knuckle (6) stops rotating until the middle knuckle (7) rotates relatively to the middle knuckle (7) rotates until the middle knuckle (7) rotates tightly, and the stepping object (59) stops.
The large stepping motor (59) rotates reversely, the ball screw (34) is driven to rotate through the large coupling (60), the ball screw (34) drives the nut (33) to move downwards along the ball screw (34), the moving platform (15) moves along with the nut (33), and accordingly the annular sliding block (16) of the finger is driven to move downwards along the finger rotating shaft (12), the annular sliding block (16) drives the push rod (14) to move downwards, and the push rod (14) pulls the finger to open together, so that the gripped object is loosened.
The present invention provides a modular manipulator with an automatic knuckle stop mechanism, and the above description is merely a preferred embodiment of the invention, and it should be noted that modifications may be made by those skilled in the art without departing from the principles of the invention, and such modifications should also be considered as being within the scope of the invention.
Claims (3)
1. The modularized manipulator with the automatic knuckle limiting mechanism is characterized by comprising 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 in a 60-degree included angle;
The first rotating finger (1) comprises a root knuckle (5), a middle knuckle (6), a tail 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), wherein the tail 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 arranged between the tail knuckle (7) and the middle knuckle (6), 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, the torsion spring (38) is arranged 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 connected with the first connecting rod (8) through the pin shaft (39), 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 a root knuckle (5) and a finger rotating shaft (12) through a pin shaft, the push rod (14) is respectively connected with the fourth connecting rod (11) and an annular sliding block (16) through a pin shaft, the annular sliding block (16) is in clearance fit with the finger rotating shaft (12), the annular sliding block (16) is also in clearance fit with the movable platform (15), a fixed limiting block (35) is in clearance fit with the finger rotating shaft (12), two ends of the finger rotating shaft (12) are supported and installed between the rotating finger upper cover plate (13) and the rotating finger base (18) through bearings, a square connecting block (40) is arranged at the lower part of the finger rotating shaft (12), the rotating finger shell (17) is respectively connected with the rotating finger upper cover plate (13) and the rotating finger base (18) through screws, a T-shaped guide rail (41) is arranged on the rotating finger base (18), and a cylindrical spring pin (36) is in clearance fit with the rotating finger upper cover plate (13);
The second rotating finger (2) has the same structure as the first rotating finger (1), the second rotating finger upper cover plate and the rotating finger upper cover plate (13) have different slotting directions only because of different finger rotating directions, 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) have different structures as the first rotating finger (1), and the rest are the same as the first rotating finger;
the automatic knuckle limiting mechanism (4) is arranged 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 miniature worm shaft (51), a miniature worm wheel (52), a miniature 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), wherein the miniature motor (54) is arranged on the left gear box body (49) of the automatic knuckle limiting mechanism (4), the second pinion (56) is arranged on an output shaft of the miniature motor (54), the first pinion (53) is arranged on the miniature worm shaft (51) through interference fit, two ends of the miniature worm shaft (51) are arranged in a hole of the right gear box body (50) and a hole of the left gear box body (49) through bearing bearings, the miniature worm wheel (52) is arranged on the pin shaft (58) through fit, the two worm wheel gear boxes are arranged in the left gear box body (49) and the right gear box body (49) through two bearing bearings, the 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 the middle knuckle (6) and the root knuckle (5), the second movable limiting block (57) is in interference fit with the pin shaft (58), the 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 adopting screws, and the root knuckle side cover (55) is connected with the root knuckle (5) by two screws;
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), wherein the small stepping motor (26) is connected with the small stepping motor bracket (25) through four screws, the small stepping motor bracket (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), bearings are arranged at two ends of the worm (29) and are arranged on the two worm supports (30), the two worm supports (30) are connected with the gear base (24) through screws, the worm (29) is meshed with the worm wheel (28), the worm wheel (28) is connected with the third gear shaft (31) through a taper 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 the gear base (24) and the fourth gear shaft (32) which are meshed with the third gear base (23), the second gear shaft (23) is meshed with the first gear shaft (22), a square open slot is formed in the first gear shaft (22), a square connecting block (40) above the finger rotating shaft (12) of the first rotating finger is arranged in the square open slot above the first gear shaft (22), a square open slot is also formed in the fourth gear shaft (32), and a square connecting block (40) above the finger rotating shaft (12) of the second rotating finger is arranged in the square open slot above the fourth gear shaft (32);
The finger grabbing mechanism comprises 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 a supporting column (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 the paw base (21) through three screws, bearings are mounted at two ends of the ball screw (34) between the paw base (21) and a palm (37), 6 supporting columns (61) are mounted 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.
2. The modularized manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein the first rotating finger (1) and the second rotating finger (2) and the 4 fixed fingers (3) are 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 fixed finger base (44) through the fixing pin (19), and 2 buckle springs (43) are arranged between the two buckles (20).
3. The modularized manipulator with the automatic knuckle limiting mechanism according to claim 1, wherein a shell (62) is arranged on the periphery of the gear base (24), the shell (62) is connected with the paw base (21) through four screws, the bottom cover (63) is connected with the shell through four screws, and four threaded holes connected with the manipulator are reserved on the bottom cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175916.2A CN112248025B (en) | 2020-10-28 | 2020-10-28 | Modularized manipulator with automatic knuckle limiting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011175916.2A CN112248025B (en) | 2020-10-28 | 2020-10-28 | Modularized manipulator with automatic knuckle limiting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112248025A CN112248025A (en) | 2021-01-22 |
| CN112248025B true CN112248025B (en) | 2024-06-07 |
Family
ID=74262292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011175916.2A Active CN112248025B (en) | 2020-10-28 | 2020-10-28 | Modularized manipulator with automatic knuckle limiting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112248025B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN115042220B (en) * | 2022-05-18 | 2024-10-18 | 哈尔滨工业大学 | Modal switching device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106687258A (en) * | 2014-09-12 | 2017-05-17 | 波利瓦洛尔有限合伙公司 | Mechanical finger for grasping apparatus |
-
2020
- 2020-10-28 CN CN202011175916.2A patent/CN112248025B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112248025A (en) | 2021-01-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112248025B (en) | Modularized manipulator with automatic knuckle limiting mechanism | |
| CN111002340B (en) | Under-actuated finger mechanism for changing envelope space by axially adjusting swing fulcrum | |
| CN111002339B (en) | Under-actuated finger combination mechanism for radially adjusting swing rod fulcrum to change envelope space | |
| WO2019140930A1 (en) | Three-fingered robotic gripper having adaptive under-actuated steering | |
| CN209936945U (en) | Three-finger manipulator | |
| CN213562667U (en) | Modular manipulator with automatic knuckle limiting mechanism | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| WO2022143665A1 (en) | Two-jaw flexible manipulator having indexable finger roots | |
| CN110809506A (en) | Clamping device and movable machine | |
| CN113245806B (en) | Material taking manipulator | |
| CN110978028B (en) | Hand and foot combination device for walking robot | |
| CN209740171U (en) | simple mechanical arm | |
| CN113427501B (en) | Multi-mode self-adaptive mechanical gripper | |
| CN210819604U (en) | Under-actuated manipulator with knuckle limiting mechanism | |
| CN114714383A (en) | Decoupling three-degree-of-freedom finger-palm variable grabbing mechanism | |
| CN214981108U (en) | Under-actuated mechanical finger with knuckle automatic limiting mechanism | |
| CN219563126U (en) | Under-actuated dexterous hand structure | |
| CN113510741A (en) | Under-actuated self-adaptive manipulator based on metamorphic principle | |
| CN2915407Y (en) | Mechanical arm convolution angle and convolution direction adjusting mechanism | |
| CN208305091U (en) | A kind of mechanical arm and its grabbing device | |
| CN114310713B (en) | Clamping mechanism | |
| CN103358325B (en) | Orbit tool changer based on grooved wheel mechanism | |
| CN215946058U (en) | Relief valve gripper | |
| CN212146478U (en) | Five-rod sliding groove linear parallel clamping self-adaptive robot finger device | |
| CN107344356A (en) | A kind of anthropomorphic wrist refers to hybrid mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |