CN112571439A - Three-finger joint under-actuated self-adaptive electric drive mechanical gripper - Google Patents
Three-finger joint under-actuated self-adaptive electric drive mechanical gripper Download PDFInfo
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- CN112571439A CN112571439A CN202011442904.1A CN202011442904A CN112571439A CN 112571439 A CN112571439 A CN 112571439A CN 202011442904 A CN202011442904 A CN 202011442904A CN 112571439 A CN112571439 A CN 112571439A
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- finger joint
- connecting rod
- supporting seat
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- finger
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The invention discloses an under-actuated self-adaptive electric drive mechanical gripper with three finger joints, and relates to the field of mechanical arm clamps; comprises a base part and a finger joint part; the base part is provided with three finger joint parts, each finger joint part comprises a finger joint top section and a finger joint middle section which are hinged through a torsion spring, the bottom of the finger joint middle section is hinged with a finger joint tail section through the torsion spring, and the bottom of the finger joint tail section is hinged on a finger joint base; a finger joint worm wheel is arranged on the finger joint base, a finger joint worm is meshed and connected with the finger joint worm, and the finger joint worm is connected with a finger joint motor; one side below the end section of the finger joint is provided with a driving finger joint part, the other side is provided with a follow-up finger joint part, the driving finger joint part and the follow-up finger joint part are respectively connected with the top section of the finger joint, the middle section of the finger joint and the end section of the finger joint, and the driving finger joint part and the follow-up finger joint part are in transmission connection with a worm gear of the finger joint. The invention can adaptively envelop and grab workpieces with more shapes, and has wide application range and good flexibility.
Description
Technical Field
The invention relates to the technical field of mechanical arm clamps, in particular to a three-finger joint under-actuated self-adaptive electric drive mechanical claw.
Background
The end clamp of the traditional mechanical arm adopts a pneumatic form, a magnetic suction form and a simple mechanical structure form, is low in cost and simple to control, is suitable for occasions with low precision requirements, and needs to be repeatedly replaced under the condition of complex working conditions. At present, based on the field of intelligent manufacturing, the end clamp of the mechanical arm has an updated requirement, so that the end clamp can adapt to various application scenes. The application range of the end clamp of the traditional mechanical arm is narrow, and the flexibility is poor.
Disclosure of Invention
The invention aims to provide an under-actuated self-adaptive electric-driven mechanical gripper with three finger joints, which is used for solving the problems in the prior art, can grip workpieces with more shapes in a self-adaptive envelope manner, and has wide application range and good flexibility.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an under-actuated self-adaptive electric-driven mechanical gripper with three finger joints, which comprises a base part and a finger joint part; the base part is movably provided with three finger joint parts, each finger joint part comprises a finger joint top section and a finger joint middle section, the finger joint top sections and the finger joint middle sections are hinged through torsion springs, the bottoms of the finger joint middle sections are hinged through torsion springs to finger joint tail sections, the bottoms of the finger joint tail sections are hinged to a finger joint base, and the finger joint base is movably connected with the base part; a finger joint worm wheel is arranged on the finger joint base, a finger joint worm is meshed and connected with the finger joint worm, and the finger joint worm is connected with a finger joint motor; a driving finger joint part is arranged on one side below the tail end of the finger joint, a follow-up finger joint part is arranged on the other side of the tail end of the finger joint, the driving finger joint part and the follow-up finger joint part are respectively connected with the top section of the finger joint, the middle section of the finger joint and the tail end of the finger joint, and the driving finger joint part and the follow-up finger joint part are in transmission connection with the finger joint worm gear.
Optionally, the driving knuckle part comprises a driving connecting rod joint arranged on one side below the end of the knuckle, and the follower knuckle part comprises a follower connecting rod joint arranged on the other side below the end of the knuckle; the driving connecting rod joint, the follow-up connecting rod joint and the finger joint worm gear are in transmission connection through a first long connecting rod shaft; the tail end of the driving connecting rod joint is connected with a first connecting rod through a short connecting rod shaft, the tail end of the first connecting rod is connected with a first triangular connecting rod through a short connecting rod shaft, the upper part of the first triangular connecting rod is connected with a second connecting rod through a short connecting rod shaft, and the tail end of the second connecting rod is connected with a horizontal connecting rod joint through a short connecting rod shaft; the tail end of the follow-up connecting rod joint is connected with a third connecting rod through a short connecting rod shaft, the tail end of the third connecting rod is connected with a second triangular connecting rod through a short connecting rod shaft, the upper part of the second triangular connecting rod is connected with a fourth connecting rod through a short connecting rod shaft, and the fourth connecting rod is connected with one side, far away from the middle section of the finger joint, of the bottom of the top section of the finger joint through the short connecting rod shaft; a second long connecting rod shaft penetrates through one end, far away from the tail end of the first connecting rod, of the first triangular connecting rod, and the second long connecting rod shaft penetrates through a torsion spring at the joint of the middle section of the finger joint and the tail section of the finger joint and then is connected with one end, far away from the third connecting rod, of the second triangular connecting rod; and a third long connecting rod shaft penetrates through the tail end of the horizontal connecting rod joint, and the third long connecting rod shaft penetrates through a torsional spring at the joint of the middle section of the finger joint and the top section of the finger joint. The driving connecting rod joint, the finger joint tail section, the first connecting rod and the first triangular connecting rod form a parallelogram connecting rod mechanism, and the first triangular connecting rod, the second connecting rod, the horizontal connecting rod joint and the finger joint middle section form another parallelogram connecting rod mechanism; the follow-up connecting rod joint, the third connecting rod, the second triangular connecting rod and the end section of the finger joint form an oblique quadrilateral connecting rod mechanism, and the second triangular connecting rod, the fourth connecting rod, the top section of the finger joint and the middle section of the finger joint form another oblique quadrilateral connecting rod mechanism.
Optionally, the inner end surfaces of the finger joint top section, the finger joint middle section and the finger joint tail section are respectively and fixedly provided with a backing plate.
Optionally, the knuckle worm is in transmission connection with a planetary reducer, the planetary reducer is in transmission connection with the knuckle motor, and the knuckle motor is provided with an encoder.
Optionally, two ends of the first long connecting rod shaft, the second long connecting rod shaft and the third long connecting rod shaft are respectively and fixedly connected with a shaft clamp, and the finger joint worm is arranged in the finger joint base through a bearing.
Optionally, the base part includes a base, one side of the base is provided with a first supporting seat, the other side of the base is provided with a second supporting seat, the second supporting seat is provided with two symmetrically arranged mounting holes, two finger joint bases are arranged between the first supporting seat and the second supporting seat, and finger joint motors of the two finger joint bases are respectively arranged in the two mounting holes in a penetrating manner; one side of the second supporting seat, which is far away from the first supporting seat, is provided with a third supporting seat, one side of the third supporting seat, which is far away from the second supporting seat, is provided with a fourth supporting seat, and one finger joint base is arranged between the third supporting seat and the fourth supporting seat.
Optionally, a left-handed worm gear is fixedly mounted on one finger joint base located between the first supporting seat and the second supporting seat, and a right-handed worm gear is fixedly mounted on the other finger joint base located between the first supporting seat and the second supporting seat; the left-handed worm wheel is in transmission connection with a left-handed worm, the right-handed worm wheel is in transmission connection with a right-handed worm, and the right-handed worm and the left-handed worm are fixedly arranged on the base through worm supporting seats respectively; be provided with the gear motor supporting seat on the base, be provided with gear motor on the gear motor supporting seat, gear motor is biax output motor, and gear motor passes through hexagon socket head cap screw and gear motor supporting seat fixed connection, and is connected with through axle card transmission after the transmission shaft of gear motor one end passes the shaft hole of gear motor supporting seat and takes boss synchronous pulley, the right-handed worm passes through bearing and shaft coupling and gear motor's one end output shaft transmission and is connected, the gear motor other end is connected with through axle card transmission and takes boss synchronous pulley, take boss synchronous pulley to be connected with synchronous pulley through synchronous belt transmission, synchronous pulley with the transmission of left-handed worm is connected.
Optionally, the top of the first supporting seat, the second supporting seat, the third supporting seat and the fourth supporting seat are connected with a top cover, and a top cover base plate is laid at the upper end of the top cover.
Compared with the prior art, the invention has the following technical effects:
the clamping jaw can guarantee precision, self-adaptively and enveloping the workpieces with more shapes, and the control of the gripping force can be realized through the control of the motor torque. The workpiece can be grabbed in a self-adaptive enveloping manner. Because the side finger can realize forward and reverse rotation, the work requirement is met through various grabbing situations.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a front view of a knuckle section of the present invention;
FIG. 2 is a schematic side view of a knuckle part A-A according to the present invention;
FIG. 3 is a schematic side view of a knuckle part B-B according to the present invention;
FIG. 4 is a top view of the three-finger joint under-actuated adaptive electric-driven gripper of the present invention;
FIG. 5 is a front view of the three-finger joint under-actuated self-adaptive electric-driven gripper of the present invention;
FIG. 6 is a cross-sectional view of the three-finger joint under-actuated self-adaptive electric-driven gripper A-A of the present invention;
FIG. 7 is an exploded view of a knuckle according to the present invention;
FIG. 8 is an exploded view of the base portion of the present invention;
FIG. 9 is a diagrammatic view of a knuckle section of the present invention;
FIG. 10 is a schematic view of the A-A side of the knuckle according to the present invention;
FIG. 11 is a schematic view of the side B-B of the knuckle according to the present invention;
FIG. 12 is a schematic view of the grabbing process of the three-finger joint under-actuated self-adaptive electric-driven mechanical gripper of the invention;
wherein, 1 is a base part, 2 is a finger joint part, 3 is a torsion spring, 4 is a finger joint top section, 5 is a finger joint middle section, 6 is a finger joint end section, 7 is a finger joint base, 8 is a finger joint worm wheel, 9 is a finger joint worm, 10 is a finger joint motor, 11 is a driving finger joint part, 12 is a follow-up finger joint part, 13 is a driving connecting rod joint, 14 is a follow-up connecting rod joint, 15 is a first long connecting rod shaft, 16 is a short connecting rod shaft, 17 is a first connecting rod, 18 is a first triangular connecting rod, 19 is a second connecting rod, 20 is a horizontal connecting rod joint, 21 is a third connecting rod, 22 is a second triangular connecting rod, 23 is a fourth connecting rod, 24 is a second long connecting rod shaft, 25 is a third long connecting rod shaft, 26 is a backing plate, 27 is a planetary reducer, 28 is a shaft clamp, 29 is a shaft clamp, 30 is a bearing, 31 is a base, 32 is a first supporting seat, 33 is a second supporting seat, 34 is a mounting hole, 35 is a third support seat, 36 is a fourth support seat, 37 is a left-handed worm wheel, 38 is a right-handed worm wheel, 39 is a left-handed worm, 40 is a right-handed worm, 41 is a worm support seat, 42 is a speed reducing motor support seat, 43 is a speed reducing motor, 44 is an inner hexagon bolt, 45 is a synchronous pulley with a boss, 46 is a synchronous belt, 47 is a synchronous pulley, 48 is a top cover, 49 is a top cover cushion plate, 50 is a parallelogram link mechanism, and 51 is a parallelogram link mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an under-actuated self-adaptive electric-driven mechanical gripper with three finger joints, which is used for solving the problems in the prior art, can grip workpieces with more shapes in a self-adaptive envelope manner, and has wide application range and good flexibility.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an underactuated self-adaptive electric-driven mechanical gripper with three finger joints, which comprises a base part 1 and a finger joint part 2 as shown in figures 1-12; the base part 1 is movably provided with three finger joint parts 2, each finger joint part 2 comprises a finger joint top section 4 and a finger joint middle section 5 which are hinged through a torsion spring 3, the bottom of the finger joint middle section 5 is hinged with a finger joint tail section 6 through the torsion spring 3, the bottom of the finger joint tail section 6 is hinged on a finger joint base 7, and the finger joint base 7 is movably connected with the base part 1; a finger joint worm wheel 8 is arranged on the finger joint base 7, a finger joint worm 9 is meshed and connected with the finger joint worm wheel 8, and a finger joint motor 10 is connected with the finger joint worm 9; a driving finger joint part 11 is arranged on one side below the finger joint tail section 6, a follow-up finger joint part 12 is arranged on the other side, the driving finger joint part 11 and the follow-up finger joint part 12 are respectively connected with the finger joint top section 4, the finger joint middle section 5 and the finger joint tail section 6, and the driving finger joint part 11 and the follow-up finger joint part 12 are in transmission connection with the finger joint worm wheel 8.
Preferably, the driving knuckle part 11 comprises a driving link joint 13 arranged on one side below the knuckle tail part 6, and the follower knuckle part 12 comprises a follower link joint 14 arranged on the other side below the knuckle tail part 6; the driving connecting rod joint 13, the follow-up connecting rod joint 14 and the finger joint worm wheel 8 are in transmission connection through a first long connecting rod shaft 15; the tail end of the driving connecting rod joint 13 is connected with a first connecting rod 17 through a short connecting rod shaft 16, the tail end of the first connecting rod 17 is connected with a first triangular connecting rod 18 through the short connecting rod shaft 16, the upper part of the first triangular connecting rod 18 is connected with a second connecting rod 19 through the short connecting rod shaft 16, and the tail end of the second connecting rod 19 is connected with a horizontal connecting rod joint 20 through the short connecting rod shaft 16; the tail end of the follow-up connecting rod joint 14 is connected with a third connecting rod 21 through a short connecting rod shaft 16, the tail end of the third connecting rod 21 is connected with a second triangular connecting rod 22 through the short connecting rod shaft 16, the upper part of the second triangular connecting rod 22 is connected with a fourth connecting rod 23 through the short connecting rod shaft 16, and the fourth connecting rod 23 is connected with one side, far away from the middle section 5, of the bottom of the finger joint top section 4 through the short connecting rod shaft 16; a second long connecting rod shaft 24 penetrates through one end, far away from the tail end of the first connecting rod 17, of the first triangular connecting rod 18, and the second long connecting rod shaft 24 penetrates through the torsion spring 3 at the joint of the middle finger joint section 5 and the tail finger joint section 6 and then is connected with one end, far away from the third connecting rod 21, of the second triangular connecting rod 22; the third long connecting rod shaft 25 penetrates through the tail end of the horizontal connecting rod joint 20, and the third long connecting rod shaft 25 penetrates through the torsion spring 3 at the joint of the middle finger joint section 5 and the top finger joint section 4. The driving connecting rod joint 13, the finger joint tail section 6, the first connecting rod 17 and the first triangular connecting rod 18 form a parallelogram connecting rod mechanism 50, and the first triangular connecting rod 18, the second connecting rod 19, the horizontal connecting rod joint 20 and the finger joint middle section 5 form another parallelogram connecting rod mechanism 50; the follower link joint 14, the third link 21, the second triangular link 22 and the finger joint end section 6 form one oblique quadrilateral linkage 51, and the second triangular link 22, the fourth link 23, the finger joint top section 4 and the finger joint middle section 5 form another oblique quadrilateral linkage 51.
The inner end surfaces of the finger joint top section 4, the finger joint middle section 5 and the finger joint tail section 6 are respectively and fixedly provided with a backing plate 26. The finger joint worm 9 is connected with a planetary speed reducer 27 in a transmission way, the planetary speed reducer 27 is connected with the finger joint motor 10 in a transmission way, and the finger joint motor 10 is provided with an encoder 28. Two ends of the first long connecting rod shaft 15, the second long connecting rod shaft 24 and the third long connecting rod shaft 25 are respectively and fixedly connected with a shaft clamp 29, and the knuckle worm 9 is arranged in the knuckle base 7 through a bearing 30.
The base part 1 comprises a base 31, wherein one side of the base 31 is provided with a first supporting seat 32, the other side of the base 31 is provided with a second supporting seat 33, the second supporting seat 33 is provided with two symmetrically arranged mounting holes 34, two knuckle bases 7 are arranged between the first supporting seat 32 and the second supporting seat 33, and knuckle motors 10 of the two knuckle bases 7 are respectively arranged in the two mounting holes 34 in a penetrating manner; a third support seat 35 is arranged on one side of the second support seat 33 far away from the first support seat 32, a fourth support seat 36 is arranged on one side of the third support seat 35 far away from the second support seat 33, and a knuckle base 7 is arranged between the third support seat 35 and the fourth support seat 36. A left-handed worm wheel 37 is fixedly arranged on one knuckle base 7 positioned between the first supporting seat 32 and the second supporting seat 33, and a right-handed worm wheel 38 is fixedly arranged on the other knuckle base 7 positioned between the first supporting seat 32 and the second supporting seat 33; the left-handed worm wheel 37 is in transmission connection with a left-handed worm 39, the right-handed worm wheel 38 is in transmission connection with a right-handed worm 40, and the right-handed worm 40 and the left-handed worm 39 are fixedly arranged on the base 31 through a worm support 41 respectively; be provided with gear motor supporting seat 42 on the base 31, be provided with gear motor 43 on the gear motor supporting seat 42, gear motor 43 is biax output motor, gear motor 43 passes through hexagon socket head cap 44 and gear motor supporting seat 42 fixed connection, and be connected with through the axle clamp transmission after the transmission shaft of gear motor 43 one end passes gear motor supporting seat 42's shaft hole and take boss synchronous pulley 45, right-handed worm 40 passes through the bearing and the shaft coupling is connected with the one end output shaft transmission of gear motor 43, the gear motor 43 other end is connected with and takes boss synchronous pulley 45 through the axle clamp transmission, it is connected with synchronous pulley 47 to take boss synchronous pulley 45 through synchronous belt 46 transmission, synchronous pulley 47 is connected with left-handed worm 39 transmission. The top of the first support seat 32, the second support seat 33, the third support seat 35 and the fourth support seat 36 is connected with a top cover 48, and a top cover cushion plate 49 is laid at the upper end of the top cover 48.
In the operation process, the knuckle motor 10 drives the knuckle worm 9 and the knuckle worm wheel 8 to rotate, the knuckle worm wheel 8 drives the driving connecting rod joint 13 to rotate, the torsion springs 3 at the knuckle top section 4 and the knuckle middle section 5 enable the knuckle top section 4 and the knuckle middle section 5 to keep the opening trend, and the torsion springs 3 at the knuckle middle section 5 and the knuckle end section 6 enable the knuckle middle section 5 and the knuckle end section 6 to keep the parallel trend. Through the action of the two torsion springs 3, the follow-up connecting rod joint is kept still in the initial motion process, so that the two parallelogram connecting rod mechanisms 50 can ensure that the end surface of the top section of the finger joint is always vertical to the horizontal direction.
The two oblique quadrilateral link mechanisms 51 have the function of adapting to the shape of the mechanism when encountering an object, the tail ends of the finger joints are fixed after encountering the object, the middle section of the finger joints continuously moves, the finger joints are not moved after encountering the object, and the top section of the finger joints continuously moves, so that the grabbing action is realized, and the enveloping grabbing motion is realized. When the workpiece is not touched, when the two sets of parallelogram link mechanisms 50 and the two sets of oblique quadrilateral link mechanisms 51 move in a combined manner, the tail sections of the finger joints can be ensured to be always vertical, and the working condition of clamping two fingers can be realized; after the workpiece is touched, the two sets of parallelogram link mechanisms 50 fail, and the two sets of oblique quadrilateral link mechanisms 51 ensure the realization of enveloping grabbing motion.
According to the invention, the knuckle worm wheel and the knuckle worm are selected as power transmission structures, and a proper reduction ratio is selected, so that the structure has the advantages that mechanical self-locking can be realized, when the knuckle motor rotates to a stop state, the worm wheel and the worm can continuously provide torque, and the load of the knuckle part is reduced. The left-handed worm wheel and the right-handed worm wheel can be reversely rotated through the speed reducing motor, the left-handed worm and the right-handed worm wheel, and then the two finger joint bases on the same side are driven to rotate in the opposite directions, so that the two finger joints on the same side rotate in the opposite directions to clamp two fingers on the same side.
The motion of mechanical claw side knuckle can be realized to gear motor just reversing, combines the synchronous pulley structure for the knuckle base syntropy that lies in two knuckle portions with one side rotates, has realized that the clamp of homonymy knuckle presss from both sides and gets and unclamp the action. In the process of clamping the three fingers of the finger joint, if no workpiece exists, under the condition that the tail section of the finger joint is not touched to limit, the top section of the finger joint can be kept to be always vertical to the horizontal direction, so that the parallel clamping and conveying of the three fingers of the mechanical claw can be realized.
The finger joint motor adopts a permanent magnet synchronous motor and is controlled in a driving and controlling integrated mode, a main chip is stm32F407ZGT6, the algorithm comprises motor parameter self-test, vector control FOC algorithm, weak magnetic control, a current loop, a position loop and a speed loop, so that the precision of the servo motor can be ensured, and the mechanical claw can be ensured to run smoothly without blockage through a motor acceleration and deceleration algorithm.
The total rated output torque is equal to the rated torque of the motor, the speed reducer efficiency, the speed reducer reduction ratio and the worm and gear reduction ratio
The total locked-rotor output torque is equal to the locked-rotor torque of the motor, multiplied by the efficiency of the speed reducer, multiplied by the reduction ratio of the worm and gear
Rated output force of finger end is total locked-rotor output torque/total length of mechanical finger
Finger tip holding force is equal to total locked-rotor output torque/total mechanical finger length
The total rated output speed is equal to the rated speed of the motor/(reduction ratio of the speed reducer is multiplied by the reduction ratio of the worm gear and the worm gear)
Each speed reducing motor is driven by 1 motor driver, and the motor driver is internally provided with an FOC vector control algorithm, a current loop, a speed loop and a position loop, so that the precise positioning control and the torque control of the motor can be realized. CAN communication is adopted as a communication protocol among 4 motor drivers, ID distribution is carried out on the drivers, and command control is carried out on the motor drivers through an extended frame data frame format. The microswitch is positioned in the finger joint base and close to one side of the connecting rod joint-drive, and is used for completing the initial position change of the speed reducing motor. The grabbing force of the mechanical claw is controlled by changing the target current of the motor current loop, so that the mechanical claw can grab various workpieces in different fields.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a three finger joint under-actuated self-adaptation electric drive gripper which characterized in that: comprises a base part and a finger joint part; the base part is movably provided with three finger joint parts, each finger joint part comprises a finger joint top section and a finger joint middle section, the finger joint top sections and the finger joint middle sections are hinged through torsion springs, the bottoms of the finger joint middle sections are hinged through torsion springs to finger joint tail sections, the bottoms of the finger joint tail sections are hinged to a finger joint base, and the finger joint base is movably connected with the base part; a finger joint worm wheel is arranged on the finger joint base, a finger joint worm is meshed and connected with the finger joint worm, and the finger joint worm is connected with a finger joint motor; a driving finger joint part is arranged on one side below the tail end of the finger joint, a follow-up finger joint part is arranged on the other side of the tail end of the finger joint, the driving finger joint part and the follow-up finger joint part are respectively connected with the top section of the finger joint, the middle section of the finger joint and the tail end of the finger joint, and the driving finger joint part and the follow-up finger joint part are in transmission connection with the finger joint worm gear.
2. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 1, characterized in that: the driving finger joint part comprises a driving connecting rod joint arranged on one side below the end section of the finger joint, and the follow-up finger joint part comprises a follow-up connecting rod joint arranged on the other side below the end section of the finger joint; the driving connecting rod joint, the follow-up connecting rod joint and the finger joint worm gear are in transmission connection through a first long connecting rod shaft; the tail end of the driving connecting rod joint is connected with a first connecting rod through a short connecting rod shaft, the tail end of the first connecting rod is connected with a first triangular connecting rod through a short connecting rod shaft, the upper part of the first triangular connecting rod is connected with a second connecting rod through a short connecting rod shaft, and the tail end of the second connecting rod is connected with a horizontal connecting rod joint through a short connecting rod shaft; the tail end of the follow-up connecting rod joint is connected with a third connecting rod through a short connecting rod shaft, the tail end of the third connecting rod is connected with a second triangular connecting rod through a short connecting rod shaft, the upper part of the second triangular connecting rod is connected with a fourth connecting rod through a short connecting rod shaft, and the fourth connecting rod is connected with one side, far away from the middle section of the finger joint, of the bottom of the top section of the finger joint through the short connecting rod shaft; a second long connecting rod shaft penetrates through one end, far away from the tail end of the first connecting rod, of the first triangular connecting rod, and the second long connecting rod shaft penetrates through a torsion spring at the joint of the middle section of the finger joint and the tail section of the finger joint and then is connected with one end, far away from the third connecting rod, of the second triangular connecting rod; and a third long connecting rod shaft penetrates through the tail end of the horizontal connecting rod joint, and the third long connecting rod shaft penetrates through a torsional spring at the joint of the middle section of the finger joint and the top section of the finger joint.
3. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 1, characterized in that: and the inner end surfaces of the finger joint top section, the finger joint middle section and the finger joint tail section are respectively fixedly provided with a base plate.
4. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 2, characterized in that: the finger joint worm is in transmission connection with a planetary reducer, the planetary reducer is in transmission connection with a finger joint motor, and an encoder is installed on the finger joint motor.
5. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 2, characterized in that: the two ends of the first long connecting rod shaft, the two ends of the second long connecting rod shaft and the two ends of the third long connecting rod shaft are fixedly connected with shaft clamps respectively, and the finger joint worm is arranged in the finger joint base through a bearing.
6. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 1, characterized in that: the base part comprises a base, a first supporting seat is arranged on one side of the base, a second supporting seat is arranged on the other side of the base, two symmetrically-arranged mounting holes are formed in the second supporting seat, two finger joint bases are arranged between the first supporting seat and the second supporting seat, and finger joint motors of the two finger joint bases are respectively arranged in the two mounting holes in a penetrating manner; one side of the second supporting seat, which is far away from the first supporting seat, is provided with a third supporting seat, one side of the third supporting seat, which is far away from the second supporting seat, is provided with a fourth supporting seat, and one finger joint base is arranged between the third supporting seat and the fourth supporting seat.
7. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 6, characterized in that: a left-handed worm gear is fixedly arranged on one finger joint base between the first supporting seat and the second supporting seat, and a right-handed worm gear is fixedly arranged on the other finger joint base between the first supporting seat and the second supporting seat; the left-handed worm wheel is in transmission connection with a left-handed worm, the right-handed worm wheel is in transmission connection with a right-handed worm, and the right-handed worm and the left-handed worm are fixedly arranged on the base through worm supporting seats respectively; the base is provided with a speed reducing motor supporting seat, the speed reducing motor supporting seat is provided with a speed reducing motor, the right-handed worm is in transmission connection with one end of the speed reducing motor through a bearing and a coupler, the other end of the speed reducing motor is connected with a belt boss synchronous pulley through shaft clamping transmission, the belt boss synchronous pulley is connected with a synchronous pulley through synchronous belt transmission, and the synchronous pulley is in transmission connection with the left-handed worm.
8. The three-finger joint under-actuated self-adaptive electric-driven mechanical claw according to claim 7, characterized in that: the top of the first supporting seat, the second supporting seat, the third supporting seat and the fourth supporting seat are connected with a top cover, and a top cover base plate is laid at the upper end of the top cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011442904.1A CN112571439A (en) | 2020-12-08 | 2020-12-08 | Three-finger joint under-actuated self-adaptive electric drive mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011442904.1A CN112571439A (en) | 2020-12-08 | 2020-12-08 | Three-finger joint under-actuated self-adaptive electric drive mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112571439A true CN112571439A (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011442904.1A Pending CN112571439A (en) | 2020-12-08 | 2020-12-08 | Three-finger joint under-actuated self-adaptive electric drive mechanical gripper |
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| Country | Link |
|---|---|
| CN (1) | CN112571439A (en) |
Cited By (2)
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| CN116922401A (en) * | 2023-09-18 | 2023-10-24 | 苏州艾利特机器人有限公司 | Control method for improving joint peak speed, robot and electronic equipment |
| CN117620641A (en) * | 2023-10-23 | 2024-03-01 | 山东波鸿轨道交通装备科技有限公司 | An auxiliary device for installing the core rod and looper of a preformed press |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116922401A (en) * | 2023-09-18 | 2023-10-24 | 苏州艾利特机器人有限公司 | Control method for improving joint peak speed, robot and electronic equipment |
| CN116922401B (en) * | 2023-09-18 | 2023-11-28 | 苏州艾利特机器人有限公司 | Control method for improving joint peak speed, robot and electronic equipment |
| CN117620641A (en) * | 2023-10-23 | 2024-03-01 | 山东波鸿轨道交通装备科技有限公司 | An auxiliary device for installing the core rod and looper of a preformed press |
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Application publication date: 20210330 |