CN112318536B - Three-finger smart end effector with three motors driving series mechanism palms - Google Patents
Three-finger smart end effector with three motors driving series mechanism palms Download PDFInfo
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- CN112318536B CN112318536B CN202011202950.4A CN202011202950A CN112318536B CN 112318536 B CN112318536 B CN 112318536B CN 202011202950 A CN202011202950 A CN 202011202950A CN 112318536 B CN112318536 B CN 112318536B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Abstract
The invention relates to the technical field of robots and automation, in particular to a three-finger smart end effector of a three-motor-driven serial mechanism palm, wherein a motor worm gear reducer drives a screw head driving shaft to rotate, a driving gear on the screw head driving shaft is meshed with a taper hole gear on a screw head driven shaft, the rotating speeds are equal and the rotating directions are opposite, the outer ends of the screw head driving shaft and the screw head driven shaft are respectively and vertically fixed with a slotted rod, the other end of each slotted rod is respectively provided with a motor planet wheel reducer, the output shaft of the motor planet wheel reducer is parallel to the screw head driving shaft and the screw head driven shaft, a long finger seat is fixed on a bottom plate, short finger seats are respectively arranged on two slotted rods or two slotted rods, and right-angle plate fingers are respectively arranged on a long finger seat and two short finger seats, is suitable for grabbing objects with different shapes and sizes.
Description
Technical Field
The invention relates to the technical field of robots and automation, in particular to a three-finger smart end effector with a series mechanism palm driven by three motors.
Background
The grabbing manipulator is also called an end effector and an end gripper, and is an operation tool for grabbing objects by a robot. Due to the complexity of grasping objects, the remaining end effectors are unable to universally and reliably grasp different classes of objects, except for some humanoid dexterous manipulators that are expensive to manufacture and complex to install. In terms of the contact state, in order to adapt to different shapes of the grasped objects such as a cuboid, a cylinder, a sphere and the like, the finger root parts of the fingers need to be indexed, so that the finger contact surfaces can better adapt to the grasped objects with different shapes, and the indexing action is the basic function of the palm.
For grasping objects such as agricultural products and food, due to the reasons of size change, non-uniform shape (physical shape), soft, hard, tough and brittle (physical property), dense and sparse distance and mutual stacking (physical state), the end effector with certain universality is more difficult to realize.
Therefore, the granted patent of 'dual-drive crank rocker slider parallel mechanism palm type manipulator with finger displacement and transposition' (patent number: 201710220457.7) provides a proposal of 'parallel mechanism palm type manipulator'. The manipulator is provided with three fingers, wherein one finger is fixed, the other two movable fingers are displaced and indexed (the displacement and the indexing relation is unique, namely the indexing angle of the movable finger is determined by the coordinate position of the movable finger) by adopting two parallel crank rocker slider parallel mechanisms, the palms of the parallel mechanisms are cooperatively driven by two motors to select the final pose of the finger so as to clamp an object, and the motion track of the movable finger is selected so as to avoid an obstacle.
The defects of the mechanical arm are as follows: firstly, positioning and grabbing objects by a single finger, wherein the reference is not overlapped, the offset between the original point of coordinates of the manipulator and the mass center of the big object and the mass center of the small object are large, and the eccentric moment of the manipulator is large; secondly, positioning and grabbing the object by a single finger, wherein the grabbed object moves a little in the grabbing process due to the positioning precision of the mechanical arm; two moving fingers, but not three fingers, move towards the object to be grabbed simultaneously, so that the clamping process is low in efficiency; the double-drive five-rod sliding block parallel mechanism drives the second finger to displace, the displacement angle at the position determined by the x and y coordinates is determined, the finger with the plane cross section is adopted when the curved surface of the grasped object is contacted, or the finger with the plane cross section is adopted when the flat surface of the grasped object is contacted, and meanwhile, the universality of the vertical grasping cylinder and the cuboid is not good enough; the parallel mechanism of the crank, the rocker and the sliding block can form a positive crank and rocker mechanism (the angular displacement direction of the crank is the same as that of the rocker) and a negative crank and rocker mechanism (the angular displacement direction of the crank is opposite to that of the rocker), the positive crank and rocker mechanism can experience a dead point state (a connecting rod is in a straight line with the rocker in the state) during transition, a rocker hinge seat (namely the sliding block) is driven by a lead screw motor, and the difficulty of avoiding the dead point by the cooperative control of the lead screw motor and a crank rotating motor is higher.
Disclosure of Invention
The three-finger smart end effector is provided with a series mechanism palm driven by three motors, so that the final grabbing pose and the path planning of the obstacle avoidance movement in the finger grabbing process are easy to determine, and the three-finger smart end effector is suitable for grabbing objects with different shapes and sizes.
The technical scheme adopted by the invention is as follows: a three-finger dexterous end effector of a three-motor-driven series mechanism palm comprises a motor worm gear reducer, a bottom plate, a thread head driving shaft, two grooved first rods, a thread head driven shaft, two motor planet gear reducers and two grooved second rods, wherein the motor worm gear reducer is fixed on the bottom plate, the motor worm gear reducer drives the thread head driving shaft to rotate, a driving gear is installed on the thread head driving shaft, a taper hole gear is installed on the thread head driven shaft, the driving gear is meshed with the taper hole gear, the rotating speed is equal, and the rotating direction is opposite, one end of one grooved first rod is vertically fixed at the outer end of the thread head driving shaft, one end of the other grooved first rod is vertically fixed at the outer end of the thread head driven shaft, the other end of each grooved first rod is respectively provided with the motor planet gear reducer, and an output shaft of the motor planet gear reducer is vertically connected with one end of the grooved second rods, the output shaft of the motor planet wheel reducer is parallel to the thread head driving shaft and the thread head driven shaft, the long finger seats are fixed on the bottom plate, the short finger seats are respectively installed on two grooved two rods or two grooved one rods, the right-angle plate fingers are installed on the long finger seats and the two short finger seats, and all the right-angle plate fingers are located on the same plane.
As a further improvement of the above technical solution:
the screw head driving shaft is provided with a first slotted rod, a long sleeve, two first large belt seat bearings, a driving gear and a short key, wherein one end of one first slotted rod is sleeved on the screw head driving shaft, is fastened on a flattened surface at one end of the screw head driving shaft by a screw and is axially fastened by a nut; a first large belt seat bearing is fixed on a gear cover plate, axial gravity generated by a gripped object is transmitted to an inner ring of the first large belt seat bearing by a shaft shoulder surface of a threaded head driving shaft to be born, the other first large belt seat bearing with the same axial lead is fixed on a bottom plate, the gear cover plate is connected into an integral structure by two guide studs and the bottom plate, two ends of each guide stud are cylindrical surfaces in clearance fit with corresponding holes, and the guide studs are screwed tightly by nuts instead of the guide studs.
The screw thread head driven shaft is supported by a second large belt seat bearing and a small belt seat bearing, the second large belt seat bearing and the small belt seat bearing are respectively fixed on the gear cover plate and the bottom plate, a rotating body is axially formed by a shaft shoulder surface of the screw thread head driven shaft, a taper hole gear, a taper sleeve and a flat nut 13, the taper hole gear is internally provided with the taper sleeve, the flat nut 13 is pressed on the taper sleeve, and the other end of the other grooved rod is sleeved on the screw thread head driven shaft and is fastened on a flat cutting surface at one end of the screw thread head driven shaft by a screw.
The outer thread section is arranged at the outermost end of an output shaft of the motor planet gear reducer, the output shaft of the motor planet gear reducer is processed into a flat cutting surface parallel to the axis, the two grooved rods are sleeved on the output shaft of the motor planet gear reducer, fastened on the flat cutting surface by screws and fastened by screws to transmit torque, and the two grooved rods are axially fastened on the output shaft of the motor planet gear reducer by nuts.
The two grooved bars are provided with waist-shaped grooves, the width of the waist-shaped grooves on the two grooved bars is in clearance fit with the diameter of one section of cylindrical surface of the threaded end of the short finger seat, the short finger seat is fixed on the two grooved bars through nuts, two layers of waist-shaped grooves with different widths are milled on the bottom plate with the same axial lead, the wide waist-shaped grooves are in clearance fit with the two side surfaces of the long finger seat and are fixed through nuts, and flat rubber strips with elliptical cross sections are bonded on the surfaces of the right-angle plate finger contact grabbing objects installed on the long finger seat and the two short finger seats.
The structure is characterized in that a waist-shaped groove is formed in the first slotted rod, the width of the waist-shaped groove on the first slotted rod is in clearance fit with the diameter of one section of a cylindrical surface of the threaded end of the short finger seat, the short finger seat is fixed on the first slotted rod through a nut, a cushion block is fixed on the mounting surface of the short finger seat for mounting the right-angle plate fingers, and the right-angle plate fingers on the short finger seat are mounted on the cushion block to enable all the right-angle plate fingers to be on the same plane.
The bottom plate is arranged on the U-shaped mounting plate, and holes are uniformly distributed on the bottom surface of the mounting plate and are connected with the robot body.
The rubber strip with the flat elliptic cross section is hard rubber or soft rubber.
The invention has the following beneficial effects: the motor worm gear reducer and the two motor planet gear reducers have good driving cooperativity, and the final grabbing pose and the path planning of the obstacle avoidance motion in the finger grabbing process are easy to determine;
the manual adjustment range is large: for grabbing symmetrical objects, the two serial branched chains are symmetrical, the two grooves are symmetrical, one rod is symmetrical, and the two motor planetary gear reducers have the same rotating speed and opposite rotating directions; for grabbing asymmetric objects, two serial branch chains are asymmetric, firstly, a phase angle between a taper hole gear and a taper sleeve is adjusted by loosening a flat round nut, so that two slotting one rods are asymmetric, secondly, two motor planetary gear reducers drive two slotting two rods to perform angular displacement and angular speed independent regulation and control, thirdly, the mounting position and the mounting angle of a short finger seat are adjusted, fourthly, the mounting positions of the two motor planetary gear reducers on the two slotting one rods are changed, and the working eccentricity of the two slotting one rods is changed;
the shape adaptability of automatic control grabbing is good: for a cuboid and a horizontally placed cylinder, a fixed finger and two manual fingers are grabbed in parallel according to the force sealing principle; for a sphere, an ellipsoid and a vertically placed cylinder, the centripetal grabbing of a fixed finger and two moving fingers is carried out according to the shape sealing principle;
the size adaptability of automatic control grabbing is good: the two serial branched chains are wide in forming range, the two grooved second rods can grab objects outside (shown in figure 2) or inside (shown in figure 4), and the action space of the two hand fingers is large, so that the size range for grabbing objects in various shapes is large;
the two movable fingers are displaced and indexed, and the indexing angle at the position determined by the x and y coordinates is determined, the fingers with the plane cross sections are adopted for the contact of the curved surfaces of the grasped object, or the fingers with the plane cross sections are adopted for the contact of the plane of the grasped object.
Drawings
FIG. 1 is a top view of a three finger smart end effector of a palm of a tandem mechanism of the present invention.
Fig. 2 is a bottom view of the external grasping cylinder of the serially connected mechanism palm three finger smart end effector of the present invention.
FIG. 3 is a cross-sectional view A-A of a three finger smart end effector of a palm of a tandem mechanism of the present invention.
Fig. 4 is a bottom view of a grasping cylinder in a serially connected mechanism palm three finger smart end effector of the present invention.
FIG. 5 is a cross-sectional B-B expanded view of the three-fingered smart end-effector of the present tandem mechanism palm.
FIG. 6 is a front view of a base plate component of a three finger smart end effector of the palm of a tandem mechanism of the present invention.
FIG. 7 is a right side view of a three finger smart end effector base plate component of the palm of the tandem mechanism of the present invention.
FIG. 8 is a front view of a slotted one-rod feature of the tandem palm smart end effector of the present invention.
FIG. 9 is a top view of a slotted one-bar component of the serially connected palm three-fingered smart end-effector of the present invention.
FIG. 10 is a partial view of a palm, three finger, smart end effector, threaded head drive shaft of the tandem mechanism of the present invention.
FIG. 11 is a drawing of a part of a threaded head driven shaft of a three finger smart end effector of a palm of a tandem mechanism of the present invention.
FIG. 12 is a right side view of a three finger smart end effector short finger seat component of the palm of the tandem mechanism of the present invention.
FIG. 13 is a front elevational view of a three finger smart end effector short finger seat component of the palm of the tandem mechanism of the present invention.
FIG. 14 is a left side view of a three finger smart end effector short finger seat feature of the palm of the tandem mechanism of the present invention.
FIG. 15 is a right side view of a long finger seat component of the tandem palm three finger smart end effector of the present invention.
FIG. 16 is a front elevational view of the long finger seat component of the tandem palm three finger smart end effector of the present invention.
FIG. 17 is a left side view of a long finger seat component of the tandem palm three finger smart end effector of the present invention.
FIG. 18 is a front cross-sectional view of a three finger smart end effector right angle plate finger feature of a tandem mechanism palm of the present invention affixed to a flat oval cross-section rubber strip feature.
FIG. 19 is a left cross-sectional view of a three-fingered smart end effector right-angle plate finger feature of a series mechanism palm of the present invention adhered to a rubber strip feature of flat elliptical cross-section.
Wherein: 1. a worm reducer of the motor; 2. a base plate; 3. a threaded-head drive shaft; 4. a short bond; 5. a driving gear; 6. a gear cover plate; 7. a first large belt seat bearing; 8. a long sleeve; 9. slotting a rod; 10. a thread start driven shaft; 11. a bevel gear; 12. a taper sleeve; 13. an oblate nut; 14. a small belt seat bearing; 15. Mounting a plate; 16. a motor planet wheel reducer; 17. slotting a second rod; 18. a short finger seat; 19. a long finger seat; 20. a square plate finger; 21. a flat elliptical cross-section rubber strip; 22. cushion blocks; 23. and a guide stud.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
1-19, the three-motor driven serial palm three-fingered smart end-effector of this embodiment has three square fingers 20, one manually eccentricity adjusted and fixed square finger 20, two square fingers 20 fixed to two slotted two-rods 17 or two slotted one-rods 9, respectively; the two grooved first rods 9 are driven by the motor worm gear reducer 1 to rotate in opposite directions, the two grooved first rods 9 are used as the basis, the two grooved second rods 17 are respectively driven by the motor planet gear reducer 16 to rotate in forward or reverse directions, and the motor worm gear reducer 1 and the two motor planet gear reducers 16 are cooperatively controlled; the motor worm wheel reducer 1 is fixed on the bottom plate 2, the motor worm wheel reducer 1 drives the screw head driving shaft 3 to rotate, the screw head driving shaft 3 is provided with a driving gear 5, the screw head driven shaft 10 is provided with a taper hole gear 11, the driving gear 5 is meshed with the taper hole gear 11, the rotating speed is equal to that of the taper hole gear 11, the rotating directions are opposite, one end of one of the first grooved bars 9 is vertically fixed at the outer end of the screw head driving shaft 3, one end of the other one grooved bar 9 is vertically fixed at the outer end of the screw head driven shaft 10, the other end of each first grooved bar 9 is respectively provided with the motor planetary wheel reducer 16, and the output shaft of the motor planetary wheel reducer 16 is vertically connected with one end of the second grooved bar 17, the output shaft of the motor planet gear reducer 16 is parallel to the thread head driving shaft 3 and the thread head driven shaft 10, the long finger seats 19 are fixed on the bottom plate 2, the short finger seats 18 are respectively arranged on the two grooved second rods 17 or the two grooved first rods 9, the right-angle plate fingers 20 are arranged on the long finger seats 19 and the two short finger seats 18, and all the right-angle plate fingers 20 are arranged on the same plane.
The first slotted rod 9, the long sleeve 8, the two first large-base bearings 7, the driving gear 5 and the short key 4 are arranged on the threaded head driving shaft 3, one end of one first slotted rod 9 is sleeved on the threaded head driving shaft 3 and is fastened on a flattened surface at one end of the threaded head driving shaft 3 by a screw and is axially fastened by a nut; a first large belt seat bearing 7 is fixed on a gear cover plate 6, axial gravity generated by a gripped object is transmitted to an inner ring of the first large belt seat bearing 7 from a shaft shoulder surface of a screw head driving shaft 3 to be borne, the other first large belt seat bearing 7 with the same axial lead is fixed on a bottom plate 2, the gear cover plate 6 is connected into an integral structure by two guide studs 23 and the bottom plate 2, two ends of each guide stud 23 are cylindrical surfaces in clearance fit with corresponding holes, and nuts are used for screwing instead of the guide studs 23 to screw on the bottom plate 2 and the gear cover plate 6.
The screw head driven shaft 10 is supported by a second large belt seat bearing and a small belt seat bearing 14, the second large belt seat bearing and the small belt seat bearing 14 are respectively fixed on the gear cover plate 6 and the bottom plate 2, a rotor is formed by a shaft shoulder surface of the screw head driven shaft 10, a taper hole gear 11, a taper sleeve 12 and a flat nut 13 in the axial direction, the taper sleeve 12 is arranged in a hole of the taper hole gear 11, the flat nut 13 is abutted against the taper sleeve 12, the flat nut 13 is screwed tightly, so that the torque is transmitted to the screw head driven shaft 10 through the inclined wedge effect of a taper contact surface, the other end of the other slotted rod 9 is sleeved on the screw head driven shaft 10 and is fastened on the flat surface of one end of the screw head driven shaft 10 by a screw, the rotation torque of the screw head driven shaft 10 is transmitted to the other slotted rod 9, the flat nut 13 is unscrewed reversely, the taper hole gear 11 is separated from the taper sleeve 12, and the phase angle between the two slotted rods 9 can be adjusted, that is: one of the slotted rods 9 and the other slotted rod 9 can be symmetrical left and right in the horizontal plane direction or asymmetrical left and right.
The first grooved rod 9 is provided with a plurality of groups of mounting hole systems capable of adjusting the mounting positions of the motor planetary reducer 16, the outermost end of the output shaft of the motor planetary reducer 16 is an external thread section, the output shaft of the motor planetary reducer 16 is processed into a flat-cut surface parallel to the axial lead, the second grooved rod 17 is sleeved on the output shaft of the motor planetary reducer 16, is fastened on the flat-cut surface by screws and is fastened by screws to transmit torque, and the second grooved rod 17 is axially fastened on the output shaft of the motor planetary reducer 16 by nuts.
The slotted two-bar 17 is provided with a waist-shaped slot, the width of the waist-shaped slot on the slotted two-bar 17 is in clearance fit with the diameter of a section of cylindrical surface at the thread end of the short finger seat 18, the short finger seat 18 can be at any position of the waist-shaped slot of the slotted two-bar 17, the short finger seat 18 can rotate relative to the slotted two-bar 17 by any angle, then the short finger seat is fixed on the slotted two-bar 17 by a nut, two layers of waist-shaped slots with different widths are milled on the bottom plate 2 with the same axial line, the wide waist-shaped slot is in clearance fit with two side surfaces of the long finger seat 19 and is fixed by the nut, the rubber strips 21 with flat elliptic cross sections are adhered on the contact surfaces of the long finger seat 19 and the right-angle plate fingers 20 arranged on the two short finger seats 18, namely, the single surface of the right-angle plate finger 20 on the long finger seat 19 of one fixed finger and the double surfaces of the right-angle plate fingers 20 on the short finger seats 18 of two movable fingers are both adhered with flat elliptic cross section rubber strips 21.
The slotted rod 9 is provided with a waist-shaped slot, the width of the waist-shaped slot on the slotted rod 9 is in clearance fit with the diameter of one section of cylindrical surface of the threaded end of the short finger seat 18, the short finger seat 18 can be arranged at any position of the waist-shaped slot of the slotted rod 9, the short finger seat 18 can rotate at any angle relative to the slotted rod 9, the short finger seat is fixed on the slotted rod 9 by nuts, a cushion block 22 is fixed on the mounting surface of the short finger seat 18 for mounting the right-angle plate fingers 20, and the right-angle plate fingers 20 on the short finger seat 18 are mounted on the cushion block 22 to enable all the right-angle plate fingers 20 to be on the same plane.
The bottom plate 2 is arranged on a U-shaped mounting plate 15, and holes are uniformly distributed on the bottom surface of the mounting plate 15 and are connected with the robot body.
The flat oval cross-section rubber strip 21 is hard rubber or soft rubber.
As shown in fig. 1-5, the fingers 20 of the right-angled plate installed on the long finger seat 19 are fixed fingers for manually adjusting the eccentric position, the fingers 20 of the right-angled plate installed on the two short finger seats 18 are moving fingers cooperatively controlled by the motor worm gear reducer 1 and the two motor planetary gear reducers 16, the positions (also called displacements) of the moving fingers are planar action spaces, and the angles (also called displacements) of the moving fingers corresponding to the fixed fingers are determined by the positions of the moving fingers, that is, the angles of the fixed fingers correspond to the positions (X, Y coordinates) one by one.
The shape adaptability of automatic control (displacement and transposition of two movable fingers) grabbing is good: for a cuboid and a horizontally placed cylinder, a fixed finger and two manual fingers are grabbed in parallel according to the force sealing principle; for a sphere, an ellipsoid and a vertically placed cylinder, the fixed fingers and the two moving fingers are centripetally grabbed according to the shape sealing principle.
The size adaptability of automatic control (the displacement and the transposition of two movable fingers) grabbing is good: the two serial branched chains are wide in forming range, the two grooved second rods 17 can grab objects outside (shown in figure 2) or inside (shown in figure 4), and the action space of the two hand fingers is large, so that the size range for grabbing objects in various shapes is large.
The two movable fingers are displaced and indexed, the indexing angle at the position determined by the x and y coordinates is determined, the fingers with the plane cross sections are adopted for the contact of the curved surfaces of the grasped object, or the fingers with the plane cross sections are adopted for the contact of the plane of the grasped object. The rubber strip 21 with the flat elliptical cross section and the rubber strip with the flat elliptical cross section and the large difference of the major diameter and the minor diameter are selected instead of the rubber strip with the arc cross section which is longitudinally cut off from the cylinder, so that the contact characteristic at the edge of the cross section is better.
The motor worm gear reducer 1 and the two motor planet gear reducers 16 have good driving cooperativity, and the final grabbing pose (contact state) and the path planning of the obstacle avoidance motion in the finger grabbing process are easy to determine.
When the object to be grabbed is symmetrical, the two serial branch chains are symmetrical, the two slotted rods 9 are symmetrical, and the two motor planetary gear reducers 16 have the same rotating speed and opposite rotating directions; for a vertically placed cylinder and a vertically placed sphere, the grabbing pose of the sphere is that three fingers are distributed at the best 120 degrees (the three fingers have equal contact force), but the force sealing of the three fingers is also reliable (the three fingers have unequal contact force, and the two moving fingers have equal contact force); for symmetrical objects such as a cuboid, a vertically placed cylinder and an ellipsoid, the fixed finger is on a symmetrical plane, the two movable fingers are symmetrically separated, and the larger the separation distance is, the more reliable the separation is.
When the object is grabbed asymmetrically, the two serial branched chains are asymmetric, and the method can be adjusted: firstly, adjusting a phase angle between a taper hole gear 11 and a taper sleeve 12 by loosening an oblate nut 13 to ensure that two grooved first rods 9 are asymmetric, secondly, driving two grooved second rods 17 to perform angular displacement and angular speed independent regulation and control by two motor planetary gear reducers 16, thirdly, adjusting the mounting position and the mounting angle of a short finger seat 18, fourthly, changing the mounting positions of the two motor planetary gear reducers 16 on the two grooved first rods 9 and changing the working eccentricity of the two grooved first rods 9;
if the adjacent grasped objects are close, the initial state of the smart end effector and the motion track of the moving finger are considered, so as to avoid interfering the grasped objects beside.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (8)
1. The utility model provides a three-finger dexterous end effector of three motor drive serial mechanisms palms which characterized in that: comprises a motor worm gear reducer (1), a bottom plate (2), a thread head driving shaft (3), two grooved first rods (9), a thread head driven shaft (10), two motor planet gear reducers (16) and two grooved second rods (17), wherein the motor worm gear reducer (1) is fixed on the bottom plate (2), the motor worm gear reducer (1) drives the thread head driving shaft (3) to rotate, a driving gear (5) is installed on the thread head driving shaft (3), a taper hole gear (11) is installed on the thread head driven shaft (10), the driving gear (5) is meshed with the taper hole gear (11) and has equal rotating speed and opposite rotating direction, one end of one grooved first rod (9) is vertically fixed at the outer end of the thread head driving shaft (3), one end of the other grooved first rod (9) is vertically fixed at the outer end of the thread head driven shaft (10), and the other end of each grooved first rod (9) is respectively provided with a motor planet gear reducer (16), the output shaft of motor planet wheel reduction gear (16) is connected perpendicularly with the one end of two grooved poles (17), the output shaft and the first drive shaft of screw thread (3) of motor planet wheel reduction gear (16), first driven shaft of screw thread (10) are parallel to each other, fixed long finger seat (19) on bottom plate (2), install respectively on two grooved two poles (17) or two grooved one pole (9) short finger seat (18), all be equipped with right angle board finger (20) on long finger seat (19), two short finger seats (18), all right angle board fingers (20) are on the coplanar.
2. The three-motor driven series connected robotic palm three-finger smart end effector of claim 1, wherein: the thread head driving shaft (3) is provided with a slotted first rod (9), a long sleeve (8), two first large-base bearings (7), a driving gear (5) and a short key (4), wherein one end of one slotted first rod (9) is sleeved on the thread head driving shaft (3), is fastened on a flat cutting surface at one end of the thread head driving shaft (3) through a screw and is axially fastened through a nut; a first large seated bearing (7) is fixed on a gear cover plate (6), axial gravity generated by a gripped object is transmitted to an inner ring of the first large seated bearing (7) by a shaft shoulder surface of a threaded head driving shaft (3) to be borne, the other first large seated bearing (7) with the same axial lead is fixed on a bottom plate (2), the gear cover plate (6) is connected into an integral structure by two guide studs (23) and the bottom plate (2), two ends of each guide stud (23) are cylindrical surfaces in clearance fit with corresponding holes, and the guide studs are screwed by nuts instead of the guide studs (23) being screwed on the bottom plate (2) and the gear cover plate (6).
3. The three-motor driven series connected robotic palm three-finger smart end effector of claim 2, wherein: the screw thread head driven shaft (10) is supported by a second large belt seat bearing and a small belt seat bearing (14), the second large belt seat bearing and the small belt seat bearing (14) are respectively fixed on the gear cover plate (6) and the bottom plate (2), a rotator is formed by a shaft shoulder surface of the screw thread head driven shaft (10), a taper hole gear (11), a taper sleeve (12) and a flat round nut (13) in the axial direction, the taper hole gear (11) is internally provided with the taper sleeve (12), the flat round nut (13) is pressed on the taper sleeve (12), and the other end of the other grooved rod (9) is sleeved on the screw thread head driven shaft (10) and is fastened on a flat cutting surface at one end of the screw thread head driven shaft (10) by a screw.
4. The three-motor driven series connected robotic palm three-finger smart end effector of claim 3, wherein: the slotting one rod (9) is provided with a plurality of groups of mounting hole systems capable of adjusting mounting positions of the motor planet gear speed reducer (16), the outermost end of an output shaft of the motor planet gear speed reducer (16) is an external thread section, a flat cutting surface parallel to the axial lead is processed on the output shaft of the motor planet gear speed reducer (16), the slotting two rod (17) is sleeved on the output shaft of the motor planet gear speed reducer (16), is fastened on the flat cutting surface by a screw and is fastened by the screw to transmit torque, and the slotting two rod (17) is axially fastened on the output shaft of the motor planet gear speed reducer (16) by a nut.
5. The three-motor driven series connected robotic palm three-finger smart end effector of claim 4, wherein: the slotted two-rod structure is characterized in that a waist-shaped groove is formed in the slotted two-rod (17), the width of the waist-shaped groove on the slotted two-rod (17) is in clearance fit with the diameter of one section of a cylindrical surface of a threaded end of a short finger seat (18), the short finger seat (18) is fixed on the slotted two-rod (17) through a nut, two layers of waist-shaped grooves with different widths are coaxially milled on the bottom plate (2), the wide waist-shaped groove is in clearance fit with the two side surfaces of a long finger seat (19) and is fixed through the nut, and flat elliptic cross-section rubber strips (21) are bonded on the surfaces of the contact grabbers of right-angle plates fingers (20) installed on the long finger seat (19) and the two short finger seats (18).
6. The three-motor driven series connected robotic palm three-finger smart end effector of claim 1, wherein: the structure is characterized in that a waist-shaped groove is formed in the first slotted rod (9), the width of the waist-shaped groove on the first slotted rod (9) is in clearance fit with the diameter of one section of a cylindrical surface of a threaded end of the short finger seat (18), the short finger seat (18) is fixed on the first slotted rod (9) through a nut, a cushion block (22) is fixed on the mounting surface of the short finger seat (18) for mounting the right-angle plate fingers (20), and the right-angle plate fingers (20) on the short finger seat (18) are mounted on the cushion block (22) so that all the right-angle plate fingers (20) are on the same plane.
7. The three-motor driven series connected robotic palm three-finger smart end effector of claim 1, wherein: the bottom plate (2) is arranged on a U-shaped mounting plate (15), and holes are uniformly distributed on the bottom surface of the mounting plate (15) and are connected with the robot body.
8. The three-motor driven series connected robotic palm three-finger smart end effector of claim 5, wherein: the rubber strip (21) with the flat elliptic cross section is hard rubber or soft rubber.
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| CN114755461B (en) * | 2022-04-07 | 2024-01-09 | 苏州浪潮智能科技有限公司 | Testing device |
| CN115043212B (en) * | 2022-06-22 | 2023-08-01 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
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