CN113635287B - Flexible mechanical claw for teaching mechanical arm - Google Patents
Flexible mechanical claw for teaching mechanical arm Download PDFInfo
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- CN113635287B CN113635287B CN202110962517.9A CN202110962517A CN113635287B CN 113635287 B CN113635287 B CN 113635287B CN 202110962517 A CN202110962517 A CN 202110962517A CN 113635287 B CN113635287 B CN 113635287B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
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Abstract
本发明公开了一种用于教学机械臂的柔性机械爪,属于机械爪领域。主体部分包括鳍形柔性爪头、爪头安装底座、横向移动模组、纵向移动模组和同步驱动模组。鳍形柔性爪头采用鳍型柔性结构,整体机械爪横纵向可以分别由电机带动运动,通过滑移齿轮实现各组机械爪同时进行加紧与放松的功能,并通过扭转弹簧进行被动适应性转动,从而可以实现多种类别对象的自适应抓取。本发明整体结构充分发挥了鳍形效应的结构特点,具有适应性强,对物体包络效果好,对被抓物体无损伤等优势,实用性较强。
The invention discloses a flexible mechanical claw used for teaching mechanical arms, and belongs to the field of mechanical claws. The main part includes a fin-shaped flexible claw head, a claw head mounting base, a transverse movement module, a longitudinal movement module and a synchronous drive module. The fin-shaped flexible claw head adopts a fin-shaped flexible structure. The overall mechanical claw can be driven by a motor in both horizontal and vertical directions. The sliding gear is used to realize the functions of tightening and relaxing each group of mechanical claws at the same time, and the torsion spring is used for passive adaptive rotation. This enables adaptive capture of multiple categories of objects. The overall structure of the invention gives full play to the structural characteristics of the fin effect, has strong adaptability, good object enveloping effect, no damage to the caught object, and other advantages, and has strong practicability.
Description
技术领域Technical field
本发明属于机械爪领域,具体涉及到一种用于教学机械臂的柔性机械爪。The invention belongs to the field of mechanical claws, and specifically relates to a flexible mechanical claw used for teaching robotic arms.
背景技术Background technique
柔性机械爪有巨大的发展潜力,且出现了模拟“鱼鳍”效应设计的手爪结构。该机械结构主要由回转副、刚性支撑杆和柔性表面构成,由于中间刚性连杆的存在,该结构相比于其他柔性结构能承受较大负载。Flexible mechanical claws have huge development potential, and claw structures designed to simulate the "fin" effect have emerged. The mechanical structure is mainly composed of a rotary pair, a rigid support rod and a flexible surface. Due to the existence of the intermediate rigid connecting rod, this structure can withstand a larger load than other flexible structures.
鳍型结构具有被动柔顺性,即其不需要外部驱动即可基于自身结构的特点,在收到外力作用后被动的形成包络,且相对海绵、气垫等由于表面柔顺性的包络效果,其结构柔顺性使得其包络效果更为良好。但是现有柔性机械爪的结构通常较为复杂,且适应性与欠驱动特性利用方面有所欠缺。The fin structure has passive compliance, that is, it does not require external driving and can passively form an envelope after receiving external forces based on its own structural characteristics. Compared with sponges, air cushions, etc. due to the envelope effect of surface compliance, it has The structural flexibility makes its enveloping effect better. However, the structures of existing flexible mechanical claws are usually complex and lack adaptability and utilization of under-actuated characteristics.
发明内容Contents of the invention
本发明的目的在于解决现有技术中存在的问题,更大程度低发挥柔性抓适应性、欠驱动的特性,本发明并提供一种用于教学机械臂的柔性机械爪,本发明仅通过移动,无需转动,便可完成良好抓取效果的机械爪。充分发挥柔性爪适应性,可抓取广泛的目标物体。The purpose of the present invention is to solve the problems existing in the prior art and to maximize the adaptability and under-driving characteristics of flexible grasping. The present invention also provides a flexible mechanical claw for teaching robotic arms. The present invention only moves , a mechanical claw that can achieve good grabbing effects without turning. Give full play to the adaptability of the flexible claw and can grasp a wide range of target objects.
本发明具体采用的技术方案如下:The technical solutions specifically adopted by the present invention are as follows:
一种用于教学机械臂的柔性机械爪,其包括鳍形柔性爪头、爪头安装底座、横向移动模组、纵向移动模组和同步驱动模组;A flexible mechanical claw for teaching robotic arms, which includes a fin-shaped flexible claw head, a claw head mounting base, a transverse movement module, a longitudinal movement module and a synchronous drive module;
所述纵向移动模组包括两组纵向驱动机构,每一组纵向驱动机构包含导轨、第二锥齿轮、正反牙螺杆和滑块,两个滑块安装于导轨上构成滑动副,且正反牙螺杆安装于导轨上且穿过两个滑块中的内螺纹孔,使两个滑块分别与正反牙螺杆构成反向移动的螺纹螺杆副;第二锥齿轮安装于正反牙螺杆的端部;The longitudinal movement module includes two sets of longitudinal driving mechanisms. Each set of longitudinal driving mechanisms includes a guide rail, a second bevel gear, a positive and negative screw and a slide block. The two slide blocks are installed on the guide rail to form a sliding pair, and the positive and negative The threaded screw is installed on the guide rail and passes through the internal threaded holes in the two slide blocks, so that the two slide blocks and the front and back thread screws respectively form a threaded screw pair that moves in the opposite direction; the second bevel gear is installed on the front and back thread screws. Ends;
所述同步驱动模组包括传动轴和第一锥齿轮,两个第一锥齿轮以滑动副形式同轴安装于传动轴上;两组纵向驱动机构的正反牙螺杆分别通过端部的第二锥齿轮与两个第一锥齿轮构成传动,且每一组纵向驱动机构均通过连接件与对应驱动的第一锥齿轮连接并同步横向移动;传动轴由外部驱动机构驱动旋转,进而带动每条正反牙螺杆上的滑块纵向移动;The synchronous drive module includes a transmission shaft and a first bevel gear. The two first bevel gears are coaxially installed on the transmission shaft in the form of a sliding pair; the positive and negative thread screws of the two sets of longitudinal drive mechanisms respectively pass through the second end. The bevel gear and the two first bevel gears form a transmission, and each set of longitudinal driving mechanisms is connected to the corresponding driven first bevel gear through a connecting piece and moves laterally synchronously; the transmission shaft is driven and rotated by an external driving mechanism, thereby driving each The slider on the positive and negative thread screw moves longitudinally;
所述横向移动模组包括蜗杆、齿条、涡轮和传动齿轮,蜗杆由外部驱动机构驱动旋转,涡轮与蜗杆构成传动配合,传动齿轮与涡轮同轴连接固定,两条齿条分别与传动齿轮构成两组反向移动的齿轮齿条副;两条齿条分别与一组纵向驱动机构中的导轨连接固定,使两组纵向驱动机构能够在所述横向移动模组驱动下反向横移;The transverse movement module includes a worm, a rack, a turbine and a transmission gear. The worm is driven to rotate by an external driving mechanism. The turbine and the worm form a transmission fit. The transmission gear and the turbine are coaxially connected and fixed. The two racks are respectively formed with the transmission gear. Two sets of reversely moving gear and rack pairs; the two racks are respectively connected and fixed with the guide rails in a set of longitudinal driving mechanisms, so that the two sets of longitudinal driving mechanisms can move in reverse directions driven by the transverse movement module;
每一个所述滑块上均通过扭转机构连接一个爪头安装底座,爪头安装底座上安装有一个鳍形柔性爪头,所述扭转机构具有轴向扭转的自由度,使所述鳍形柔性爪头受到绕轴向的扭矩后能够通过旋转来贴合不规则物体表面。Each slider is connected to a claw head mounting base through a torsion mechanism. A fin-shaped flexible claw head is installed on the claw head mounting base. The torsion mechanism has the freedom of axial torsion to make the fin-shaped flexible claw head. The claw head can rotate to fit the irregular object surface after being subjected to axial torque.
作为优选,所述鳍形柔性爪头为基于鳍形效应的仿生柔性爪头。Preferably, the fin-shaped flexible claw head is a bionic flexible claw head based on the fin-shaped effect.
作为优选,所述鳍形柔性爪头在不受外力作用下,其用于与待抓取物体贴合的一侧侧面保持垂直。Preferably, the fin-shaped flexible claw head is used to maintain verticality with the side surface of the object to be grasped without being affected by external force.
作为优选,所述鳍形柔性爪头构成四爪结构,能够在横向和纵向分别分为两组进行运动,且两组运动互不干扰。Preferably, the fin-shaped flexible claw head forms a four-claw structure and can be divided into two groups for movement in the transverse and longitudinal directions, and the movements of the two groups do not interfere with each other.
作为优选,所述扭转机构包含同轴布置的扭转弹簧和连接螺栓,所述扭转弹簧的两个自由端分别连接爪头安装底座和滑块,所述连接螺栓的扩大头部通过旋盖固定于滑块上,连接螺栓具有绕轴向转动的自由度但没有沿轴向移动的自由度,连接螺栓的螺纹端拧入爪头安装底座中固定。Preferably, the torsion mechanism includes a coaxially arranged torsion spring and a connecting bolt. The two free ends of the torsion spring are respectively connected to the claw head mounting base and the slide block. The enlarged head of the connecting bolt is fixed on the On the slide block, the connecting bolt has the freedom to rotate around the axis but not to move along the axial direction. The threaded end of the connecting bolt is screwed into the claw head mounting base and fixed.
进一步的,所述爪头安装底座上设置有卡槽和弹簧安装孔,所述弹簧安装孔用于连接所述扭转弹簧,所述卡槽用于卡接鳍形柔性爪头上的刚性连接件。Furthermore, the claw head mounting base is provided with a clamping slot and a spring mounting hole. The spring mounting hole is used to connect the torsion spring, and the clamping slot is used to clamp the rigid connector on the fin-shaped flexible claw head. .
作为优选,所述传动轴采用矩形花键轴。Preferably, the transmission shaft adopts a rectangular spline shaft.
作为优选,所述鳍形柔性爪头以可拆卸形式安装于爪头安装底座上。Preferably, the fin-shaped flexible claw head is detachably mounted on the claw head mounting base.
作为优选,所述柔性机械爪整体安装在壳体上,且壳体内安装有驱动蜗杆和传动轴的电机。Preferably, the flexible mechanical claw is integrally installed on the housing, and a motor for driving the worm and the transmission shaft is installed in the housing.
作为优选,所述传动轴的两端设置有防止两个第一锥齿轮脱轨的挡环。Preferably, the two ends of the transmission shaft are provided with retaining rings to prevent the two first bevel gears from derailing.
本发明相对于现有技术而言,具有以下有益效果:Compared with the prior art, the present invention has the following beneficial effects:
1)本发明采用的鳍形柔性爪头作为抓取机构,该爪头通过采用鳍形效应的物理结构,能够贴合物体曲面,不造成物理损坏,同时可以实现欠驱动手抓的构建,从而仅通过横向移动,无需转动便可完成良好抓取效果。1) The present invention uses a fin-shaped flexible claw head as a grasping mechanism. By adopting the physical structure of the fin-shaped effect, the claw head can fit the curved surface of the object without causing physical damage. At the same time, it can realize the construction of an under-actuated hand grasp, thus Good gripping is achieved by moving only laterally, without turning.
2)机械爪装置整体采用四爪结构,可在上下及左右方向分别分为两组进行运动,且两组运动互不干扰。整体机械爪具有横纵两轴的自由运动能力,可以在一个平面中较为自由的移动进行抓取,在平面范围内这种爪头分布的结构可以最大化的发挥爪头的效果,同时也可以有较大的抓取对象选择范围。2) The mechanical claw device adopts a four-claw structure as a whole, which can be divided into two groups for movement in the up, down, and left and right directions, and the movements of the two groups do not interfere with each other. The overall mechanical claw has the ability to move freely in both horizontal and vertical axes, and can move relatively freely in a plane for grabbing. This structure of claw head distribution within the plane can maximize the effect of the claw heads, and can also There is a larger selection range of crawling objects.
3)本发明的鳍形柔性爪头通过扭转机构进行连接安装,因此具有被动转动设计,可以相对自身转动以贴合目标。在爪头转动的部分,选择以扭转弹簧对爪头支架及底层固定部分进行连接,在当手指接触物体表面时,使得扭转弹簧受力发生转动,带动爪头与支架倾角变化,使得手指贴合不规则物体表面,引入这样一个被动自适应的转动自由度,使得爪头可以更加贴合物体。3) The fin-shaped flexible claw head of the present invention is connected and installed through a twisting mechanism, so it has a passive rotation design and can rotate relative to itself to fit the target. In the part where the claw head rotates, a torsion spring is used to connect the claw head bracket and the bottom fixed part. When the finger contacts the surface of the object, the torsion spring is forced to rotate, driving the angle of the claw head and the bracket to change, so that the finger fits The irregular object surface introduces such a passive adaptive rotational freedom, allowing the claw head to fit more closely to the object.
4)本发明中通过在传动轴上安装可沿轴向滑移的锥齿轮来进行传动,因此机械爪移动时可通过滑移齿轮实现同组机械爪的同步移动。4) In the present invention, transmission is performed by installing a bevel gear that can slide along the axial direction on the transmission shaft. Therefore, when the mechanical claws move, the same group of mechanical claws can move synchronously through the sliding gear.
5)本发明的爪头安装底座与抓头之间采用可拆卸式的固定方式,不同型号爪头可通过底部的刚性连接件直接插入该底座即可,实现方便更换爪头的功能,对于不同型号的夹取目标,可设计配套可更换爪头。同时爪子固定处具有一定的斜度以保证柔性材料边的垂直。5) The claw head installation base of the present invention adopts a detachable fixing method with the gripper head. Different types of claw heads can be directly inserted into the base through the rigid connector at the bottom, thereby realizing the function of convenient replacement of the claw heads. For different types of claw heads, The clamping target of the model can be designed with replaceable claw heads. At the same time, the claw fixation part has a certain slope to ensure that the edge of the flexible material is vertical.
附图说明Description of drawings
图1是柔性机械爪的俯视示意图;Figure 1 is a top view of a flexible mechanical claw;
图2是柔性机械爪的侧视示意图;Figure 2 is a schematic side view of a flexible mechanical claw;
图3是一组纵向驱动机构的示意图;Figure 3 is a schematic diagram of a set of longitudinal driving mechanisms;
图4是同步驱动模组的示意图;Figure 4 is a schematic diagram of the synchronous drive module;
图5为横向移动模组的示意图;Figure 5 is a schematic diagram of the lateral movement module;
图6为爪头安装底座的示意图。Figure 6 is a schematic diagram of the claw head mounting base.
图中附图标记为:鳍形柔性爪头1、导轨2、蜗杆3、齿条4、涡轮5、传动轴6爪头安装底座7、第一锥齿轮8、第二锥齿轮9、扭转机构10、正反牙螺杆11、传动齿轮12、滑块13、连接件14、壳体15、卡槽701、扭转弹簧安装孔702。The reference numbers in the figure are: fin-shaped flexible claw head 1, guide rail 2, worm 3, rack 4, turbine 5, transmission shaft 6 claw head mounting base 7, first bevel gear 8, second bevel gear 9, torsion mechanism 10. Positive and negative thread screw 11, transmission gear 12, slider 13, connector 14, housing 15, card slot 701, and torsion spring mounting hole 702.
具体实施方式Detailed ways
为使本发明的上述目的、特征和优点能够更加明显易懂,下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施,本领域技术人员可以在不违背本发明内涵的情况下做类似改进,因此本发明不受下面公开的具体实施例的限制。本发明各个实施例中的技术特征在没有相互冲突的前提下,均可进行相应组合。In order to make the above objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways different from those described here. Those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in various embodiments of the present invention can be combined accordingly as long as they do not conflict with each other.
在本发明的描述中,需要理解的是,当一个元件被认为是“连接”另一个元件,可以是直接连接到另一个元件或者是间接连接即存在中间元件。相反,当元件为称作“直接”与另一元件连接时,不存在中间元件。In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element or indirectly connected through the presence of intervening elements. In contrast, when an element is said to be "directly" connected to another element, there are no intervening elements present.
在本发明的描述中,需要理解的是,术语“第一”、“第二”仅用于区分描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。In the description of the present invention, it should be understood that the terms "first" and "second" are only used for distinction and description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. . Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features.
参见图1和图2所示,在本发明的一个较佳实施例中,提供了一种用于教学机械臂的柔性机械爪,该柔性机械爪是用于教学演示目的。该柔性机械爪包括鳍形柔性爪头1、爪头安装底座7、横向移动模组、纵向移动模组和同步驱动模组。Referring to Figures 1 and 2, in a preferred embodiment of the present invention, a flexible mechanical claw for a teaching robotic arm is provided. The flexible mechanical claw is used for teaching demonstration purposes. The flexible mechanical claw includes a fin-shaped flexible claw head 1, a claw head mounting base 7, a transverse movement module, a longitudinal movement module and a synchronous drive module.
需说明的是,本发明中的纵向和横向均是相对于机械爪的移动平面而言的,在移动平面内机械爪能够按正交的两个方向进行移动,其中一个移动方向作为横向,另一个移动方向就作为纵向。在本实施例中,以图1中的水平方向为横向,以图1中的垂直方向为纵向。It should be noted that the longitudinal and transverse directions in the present invention are relative to the moving plane of the mechanical claw. In the moving plane, the mechanical claw can move in two orthogonal directions, one of which is the horizontal direction and the other. One direction of movement is considered longitudinal. In this embodiment, the horizontal direction in Figure 1 is the transverse direction, and the vertical direction in Figure 1 is the longitudinal direction.
在本实施例中,鳍形柔性爪头1一共有四个,构成四爪结构,能够在横向和纵向分别分为两组进行运动,且两组运动互不干扰。而这种运动是通过横向移动模组、纵向移动模组和同步驱动模组的配合来实现的。下面对横向移动模组、纵向移动模组和同步驱动模组的具体结构和作动形式进行详细描述。In this embodiment, there are four fin-shaped flexible claw heads 1 , forming a four-claw structure, which can be divided into two groups for movement laterally and longitudinally, and the movements of the two groups do not interfere with each other. This movement is achieved through the cooperation of the transverse movement module, the longitudinal movement module and the synchronous drive module. The specific structure and action form of the transverse movement module, the longitudinal movement module and the synchronous drive module are described in detail below.
其中,纵向移动模组的作用在于实现两组鳍形柔性爪头1之间沿纵向的互相靠近,从而可以实现对于不同长短物体的抓取。Among them, the function of the longitudinal movement module is to realize that the two sets of fin-shaped flexible claw heads 1 are close to each other in the longitudinal direction, so that objects of different lengths can be grasped.
纵向移动模组包括两组纵向驱动机构,每一组纵向移动模组用于驱动一组鳍形柔性爪头1。如图3所示,每一组纵向驱动机构包含直线导轨2、第二锥齿轮9、正反牙螺杆11和滑块13,两个滑块13安装于导轨2上构成滑动副,且正反牙螺杆11安装于导轨2上且穿过两个滑块13中的内螺纹孔,而且两个滑块13分别与正反牙螺杆11的两段旋向相反的螺纹构成配合,由此两个滑块13分别与正反牙螺杆11构成反向移动的螺纹螺杆副,当正反牙螺杆11旋转时两个滑块13能够沿着导轨2相互靠近或者相互远离。正反牙螺杆11端部安装有第二锥齿轮9,用于连接外部驱动机构。因此,该纵向移动模组中,通过采用由正反牙螺杆11、滑块13等组成的滑动螺旋传动,将回转运动转化为直线运动,具有结构简单,加工方便,工作平稳无噪声,能实现自锁等特点。另外,为了支撑正反牙螺杆11,可在正反牙螺杆11两端配上滚动轴承,轴承采用轴肩进行定位,并为其配上联轴器以及连接外部驱动机构的轴。The longitudinal movement module includes two sets of longitudinal driving mechanisms, and each set of longitudinal movement modules is used to drive a set of fin-shaped flexible claw heads 1. As shown in Figure 3, each set of longitudinal driving mechanisms includes a linear guide rail 2, a second bevel gear 9, a front and back screw 11 and a slider 13. The two sliders 13 are installed on the guide rail 2 to form a sliding pair, and the front and back The thread screw 11 is installed on the guide rail 2 and passes through the internal thread holes in the two slide blocks 13, and the two slide blocks 13 cooperate with the two sections of threads of the front and back thread screw 11 in opposite directions, so that the two slide blocks 13 cooperate with each other. The slide block 13 forms a threaded screw pair that moves in opposite directions with the front and back thread screws 11 respectively. When the front and back thread screws 11 rotate, the two slide blocks 13 can approach or move away from each other along the guide rail 2 . A second bevel gear 9 is installed at the end of the front and back thread screw 11 for connecting to an external driving mechanism. Therefore, in this longitudinal movement module, the rotary motion is converted into linear motion by using a sliding screw transmission composed of a positive and negative thread screw 11, a slider 13, etc., which has the advantages of simple structure, convenient processing, stable operation and no noise, and can realize Self-locking and other features. In addition, in order to support the front and back thread screws 11, rolling bearings can be installed at both ends of the front and back thread screws 11. The bearings are positioned using shaft shoulders, and are equipped with couplings and shafts connected to external driving mechanisms.
另外,本实施例的同步驱动模组主要用于实现在纵向移动中由于横向移动造成的不同中心距的同步运动。因为该机械爪中,由于横向移动的存在,导致两个螺杆之间的距离处于一直变化的状态。如图3所示,同步驱动模组包括传动轴6和第一锥齿轮8,两个第一锥齿轮8以滑动副形式同轴安装于传动轴6上。两组纵向驱动机构的正反牙螺杆11分别通过端部的第二锥齿轮9与两个第一锥齿轮8构成传动,每一个第二锥齿轮9分别与一个且仅有一个第一锥齿轮8配对,构成驱动正反牙螺杆11旋转的回转机构。而且,由于两组纵向驱动机构之间会存在横向移动,因此为了保证第二锥齿轮9与第一锥齿轮8始终能够啮合传动,每一组纵向驱动机构均通过连接件14与对应驱动的第一锥齿轮8连接并同步横向移动。如图4所示,本实施例中的连接件14采用两个端部均具有固定端的弧形刚性连接件。两个第二锥齿轮9在传动轴6能够沿轴向移动,同时能够与传动轴6同步转动,而传动轴6自身可由外部驱动机构驱动旋转,进而带动每条正反牙螺杆11上的滑块13纵向移动。在该同步驱动模组种,利用滑移锥齿轮结构实现同步。在该同步驱动模组中,通过选用两个滑移锥齿轮并将其安装在花键轴上,用于传动两相交轴之间的回转运动,可以实现从花键轴到纵向移动中螺杆上的回转运动传动。传动轴6优选采用矩形花键轴,花键联接比平键联接承载能力高,对轴削弱小,定心和导向性好,适用于定心精度要求高、经常滑移的联接。另外,在传动轴6的两端还可以增加挡环,防止锥齿轮脱轨。在实际设计时,为了支撑花键轴,可以在花键轴两端配上滚动轴承,轴承采用轴肩进行定位;通过拨叉滑移齿轮,实现在纵向移动中由于横向移动造成的不同中心距的同步运动。In addition, the synchronous drive module of this embodiment is mainly used to realize synchronous movement with different center distances caused by lateral movement during longitudinal movement. Because in this mechanical claw, the distance between the two screws is constantly changing due to the lateral movement. As shown in Figure 3, the synchronous drive module includes a transmission shaft 6 and a first bevel gear 8. The two first bevel gears 8 are coaxially installed on the transmission shaft 6 in the form of a sliding pair. The positive and negative thread screws 11 of the two sets of longitudinal driving mechanisms are respectively driven by a second bevel gear 9 and two first bevel gears 8 at the end. Each second bevel gear 9 is connected to one and only one first bevel gear. 8 are paired to form a rotary mechanism that drives the positive and negative thread screws 11 to rotate. Moreover, since there will be lateral movement between the two sets of longitudinal driving mechanisms, in order to ensure that the second bevel gear 9 and the first bevel gear 8 can always mesh and transmit, each set of longitudinal driving mechanisms is connected to the corresponding driven third through the connecting piece 14. A bevel gear 8 is connected and moves laterally synchronously. As shown in Figure 4, the connector 14 in this embodiment adopts an arc-shaped rigid connector with fixed ends at both ends. The two second bevel gears 9 can move in the axial direction on the transmission shaft 6 and rotate synchronously with the transmission shaft 6. The transmission shaft 6 itself can be driven and rotated by an external driving mechanism, thereby driving the sliders on each positive and negative thread screw 11. Block 13 moves longitudinally. In this synchronous drive module, the sliding bevel gear structure is used to achieve synchronization. In this synchronous drive module, by selecting two sliding bevel gears and installing them on the spline shaft, they are used to transmit the rotary motion between the two intersecting shafts, which can realize the longitudinal movement from the spline shaft to the screw. Rotary motion transmission. The transmission shaft 6 is preferably a rectangular spline shaft. The spline connection has a higher load-bearing capacity than the flat key connection, has less weakening of the shaft, and has good centering and guiding properties. It is suitable for connections with high centering accuracy requirements and frequent slippage. In addition, retaining rings can be added at both ends of the transmission shaft 6 to prevent the bevel gear from derailing. In actual design, in order to support the spline shaft, rolling bearings can be equipped at both ends of the spline shaft, and the bearings are positioned using shaft shoulders; through the fork sliding gear, the different center distances caused by lateral movement during longitudinal movement can be realized Synchronized movement.
横向移动模组的作用是完成两组鳍形柔性爪头1沿横向的相向运动,同时希望其可以自锁,需要整体可以基本在一个平面上完成运动,以避免和其他模块部分的冲突。如图5所示,横向移动模组包括蜗杆3、齿条4、涡轮5和传动齿轮12,蜗杆3由外部驱动机构驱动旋转,涡轮5与蜗杆3构成传动配合,传动齿轮12与涡轮5通过一条连接轴同轴连接固定,两条齿条4分别与传动齿轮12构成两组反向同步移动的齿轮齿条副。两条齿条4分别与一组纵向驱动机构中的导轨2连接固定,使两组纵向驱动机构能够在横向移动模组驱动下同步反向横移。该横向移动模组通过采用采用齿轮齿条副传动完成,齿条依托导轨进行两个方向的固定,同时在输入端添加蜗轮蜗杆副实现自锁功能,这样可以在夹取物体时无需持续输入便可固定。整体工作时可由外部电机输入转动至蜗杆3,带动涡轮5转动,通过连接轴驱动传动齿轮12转动,传动齿轮12同时带动两条齿条4在一个方向进行相向运动,从而达到目标。The function of the lateral movement module is to complete the relative movement of the two sets of fin-shaped flexible claw heads 1 along the lateral direction. At the same time, it is hoped that it can be self-locking. It is necessary that the whole movement can be basically completed on a plane to avoid conflicts with other module parts. As shown in Figure 5, the transverse movement module includes a worm 3, a rack 4, a worm 5 and a transmission gear 12. The worm 3 is driven to rotate by an external driving mechanism. The worm 5 and the worm 3 form a transmission cooperation. The transmission gear 12 and the worm 5 pass through One connecting shaft is coaxially connected and fixed, and the two racks 4 and the transmission gear 12 form two sets of gear rack pairs that move synchronously in opposite directions. The two racks 4 are respectively connected and fixed with the guide rails 2 in a set of longitudinal driving mechanisms, so that the two sets of longitudinal driving mechanisms can move synchronously and reversely under the drive of the transverse movement module. The lateral movement module is completed by using a gear rack and pinion transmission. The rack is fixed in two directions by relying on the guide rail. At the same time, a worm gear pair is added to the input end to achieve a self-locking function, so that it is convenient to clamp objects without continuous input. Can be fixed. When working as a whole, the external motor can input rotation to the worm 3, driving the turbine 5 to rotate, and driving the transmission gear 12 to rotate through the connecting shaft. The transmission gear 12 simultaneously drives the two racks 4 to move toward each other in one direction, thereby achieving the goal.
由此,通过横向移动模组、纵向移动模组和同步驱动模组的配合,可以控制两条正反牙螺杆11上的四个滑块13沿横向和纵向进行双向控制,本实施例中最终的可移动平面范围约为边长200mm正方形。而每一个滑块13上均通过扭转机构10连接一个爪头安装底座7,爪头安装底座7上安装有一个鳍形柔性爪头1,即可带动4个鳍形柔性爪头1实现对平面内目标物体的抓取功能。上述扭转机构10具有轴向扭转的自由度,在起到连接作用的同时,可以使鳍形柔性爪头1受到绕轴向的扭矩后能够通过旋转来贴合不规则物体表面。Therefore, through the cooperation of the transverse movement module, the longitudinal movement module and the synchronous drive module, the four slide blocks 13 on the two positive and negative thread screws 11 can be controlled in both transverse and longitudinal directions. In this embodiment, the final The movable plane range is approximately a square with a side length of 200mm. Each slider 13 is connected to a claw head mounting base 7 through a torsion mechanism 10. A fin-shaped flexible claw head 1 is installed on the claw head mounting base 7, which can drive four fin-shaped flexible claw heads 1 to achieve plane alignment. Capture function of internal target objects. The above-mentioned twisting mechanism 10 has the freedom of axial twisting. While playing a connecting role, the fin-shaped flexible claw head 1 can rotate to fit irregular object surfaces after being subjected to axial torque.
本实施例中,鳍形柔性爪头1为基于鳍形效应的仿生柔性爪头。参照图1所示,该鳍形柔性爪头1设计采用以柔性材料为侧面、中间加上多条间隔的刚性支撑架,刚性支撑架与两侧侧面之间采用回转副连接的形式,该手爪结构可以模拟“鱼鳍”效应进行物体抓取。实际制作中,在柔性侧面内壁设计圆孔,用于与刚性支撑架的连接,该柔性侧壁可以使用柔性材料的3D打印直接成型。In this embodiment, the fin-shaped flexible claw head 1 is a bionic flexible claw head based on the fin-shaped effect. Referring to Figure 1, the fin-shaped flexible claw head 1 is designed to use a rigid support frame with flexible materials as the sides and multiple intervals in the middle. The rigid support frame is connected to both sides in the form of a rotary pair. The hand The claw structure can simulate the "fish fin" effect for object grabbing. In actual production, a round hole is designed on the inner wall of the flexible side for connection with the rigid support frame. The flexible side wall can be directly formed using 3D printing of flexible materials.
另外,本发明中的柔性机械爪是用于教学目的,需要通过更换不同的爪头来实现不同功能的演示。因此,为了便于鳍形柔性爪头1的可拆卸式安装,可采用图6所示的爪头安装底座7,该爪头安装底座7为一块近似梯形形式的块体,其上设置有卡槽701和弹簧安装孔702,弹簧安装孔702用于连接扭转弹簧,而卡槽701用于卡接鳍形柔性爪头1上的刚性支撑架。该底座设计可通过卡槽701来固定鳍形柔性爪头1中最底部的刚性支撑架,不同型号爪头底部的刚性支撑架直接插入该底座即可,实现方便更换爪头的功能。同时该爪头安装底座7的固定处还保持了一定的倾角,使得鳍形柔性爪头1安装完成后在不受外力作用下,其用于与待抓取物体贴合的一侧侧面保持垂直,使其拥有良好的抓取效果。当然,鳍形柔性爪头1也可以通过其他的刚性连接件与卡槽701进行连接固定。In addition, the flexible mechanical claw in the present invention is used for teaching purposes, and different claw heads need to be replaced to realize the demonstration of different functions. Therefore, in order to facilitate the detachable installation of the fin-shaped flexible claw head 1, the claw head mounting base 7 shown in Figure 6 can be used. The claw head mounting base 7 is a block in an approximately trapezoidal form, with a slot provided on it. 701 and spring mounting hole 702, the spring mounting hole 702 is used to connect the torsion spring, and the slot 701 is used to clamp the rigid support frame on the fin-shaped flexible claw head 1. The base is designed to fix the bottommost rigid support frame of the fin-shaped flexible claw head 1 through the slot 701. The rigid support frame at the bottom of the claw heads of different models can be directly inserted into the base, thereby realizing the function of conveniently replacing the claw heads. At the same time, the fixation point of the claw head mounting base 7 also maintains a certain inclination angle, so that after the installation of the fin-shaped flexible claw head 1 is completed, the side of the fin-shaped flexible claw head 1 used to fit with the object to be grasped remains vertical without being affected by external force. , so that it has a good crawling effect. Of course, the fin-shaped flexible claw head 1 can also be connected and fixed with the slot 701 through other rigid connectors.
另外,本发明中的扭转机构10实现形式是多样的,一般可以采用扭转弹簧结构。在一个较佳实施例中,扭转机构10包含同轴布置的扭转弹簧和连接螺栓,扭转弹簧的两个自由端分别连接爪头安装底座7和滑块13。而滑块13底部可以设置一个能够被拧开的中空旋盖,中空旋盖具有内螺纹,而滑块13底部设置一段凸出的外螺纹,由此中空旋盖能够拧在滑块13底部。中空旋盖的端部开设有一个供连接螺栓穿过的通孔,但该通孔的孔径应当小于连接螺栓的扩大头部。由此,可以先拧下中空旋盖,然后将连接螺栓穿过通孔,而扩大头部留在旋盖中,然后重新拧上旋盖,从而将连接螺栓通过旋盖固定于滑块13上,此时连接螺栓具有绕轴向转动的自由度但没有沿轴向移动的自由度。另外,连接螺栓的螺纹端拧入爪头安装底座7中固定,鳍形柔性爪头1安装在爪头安装底座7上,从而使鳍形柔性爪头1能够受到滑块13的驱动力并同步移动的同时,还能够具有一定的扭转自由度。该扭转自由度是绕着扭转弹簧和连接螺栓轴向扭转的。机械爪在实际抓取物体的过程中可能需要机械爪绕自身轴向旋转一定的角度,以更好地贴合物体表面,所以通过爪头底座和滑块之间添加扭转弹簧,让机械爪爪头接触物体表面时若受到一定的转矩,能够使得扭转弹簧受力发生转动,带动爪头与支架倾角变化。因此引入这样一个被动自适应的转动自由度,使得爪头可以更加贴合不规则物体。另外,弹簧前端了添加两挡板,整一个弹簧机构主要用于将爪子在不受外力或仅受微小外力时保持在初始对中位置。In addition, the torsion mechanism 10 in the present invention can be implemented in various forms, and generally can adopt a torsion spring structure. In a preferred embodiment, the torsion mechanism 10 includes a coaxially arranged torsion spring and connecting bolts. The two free ends of the torsion spring are connected to the claw head mounting base 7 and the slider 13 respectively. The bottom of the slider 13 can be provided with a hollow screw cap that can be unscrewed. The hollow screw cap has internal threads, and a section of protruding external threads is provided at the bottom of the slider 13 so that the hollow screw cap can be screwed on the bottom of the slider 13 . The end of the hollow screw cap is provided with a through hole for the connecting bolt to pass through, but the diameter of the through hole should be smaller than the enlarged head of the connecting bolt. Thus, the hollow screw cap can be unscrewed first, and then the connecting bolt is passed through the through hole, while the enlarged head is left in the screw cap, and then the screw cap can be screwed on again, so that the connecting bolt is fixed on the slider 13 through the screw cap. , at this time the connecting bolt has the freedom to rotate around the axis but has no freedom to move along the axis. In addition, the threaded end of the connecting bolt is screwed into the claw head mounting base 7 and fixed, and the fin-shaped flexible claw head 1 is installed on the claw head mounting base 7, so that the fin-shaped flexible claw head 1 can receive the driving force of the slider 13 and synchronize While moving, it can also have a certain degree of freedom in twisting. This torsional degree of freedom is axial torsion about the torsion spring and connecting bolt. In the process of actually grabbing an object, the mechanical claw may need to rotate a certain angle around its own axis to better fit the object surface. Therefore, a torsion spring is added between the claw head base and the slider to allow the mechanical claw to If the head is subjected to a certain torque when it contacts the surface of the object, the torsion spring can be forced to rotate, causing the inclination angle of the claw head and the bracket to change. Therefore, the introduction of such a passive adaptive rotational freedom allows the claw head to better fit irregular objects. In addition, two baffles are added to the front end of the spring. The entire spring mechanism is mainly used to maintain the claw in the initial centering position when there is no external force or only a small external force.
需说明的是,滑块13与扭转机构10的连接可以是直接连接,也可以是间接连接。若采用间接连接,可以在滑块13底部设置一块滑块底座,扭转机构10与滑块底座连接,而滑块底座再连接滑块13。It should be noted that the connection between the slider 13 and the torsion mechanism 10 may be a direct connection or an indirect connection. If indirect connection is used, a slider base can be provided at the bottom of the slider 13 , the torsion mechanism 10 is connected to the slider base, and the slider base is connected to the slider 13 .
另外,本实施例中的柔性机械爪可整体安装在壳体15上,且壳体15内安装有驱动蜗杆3和传动轴6的电机,而鳍形柔性爪头1则需要伸出壳体15。In addition, the flexible mechanical claw in this embodiment can be integrally installed on the housing 15, and the motor driving the worm 3 and the transmission shaft 6 is installed in the housing 15, while the fin-shaped flexible claw head 1 needs to extend out of the housing 15 .
以上所述的实施例只是本发明的一种较佳的方案,然其并非用以限制本发明。有关技术领域的普通技术人员,在不脱离本发明的精神和范围的情况下,还可以做出各种变化和变型。因此凡采取等同替换或等效变换的方式所获得的技术方案,均落在本发明的保护范围内。The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. Those of ordinary skill in the relevant technical fields can also make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by adopting equivalent substitution or equivalent transformation shall fall within the protection scope of the present invention.
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