CN113927611B - Terminal tongs of robot - Google Patents
Terminal tongs of robot Download PDFInfo
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- CN113927611B CN113927611B CN202110865222.XA CN202110865222A CN113927611B CN 113927611 B CN113927611 B CN 113927611B CN 202110865222 A CN202110865222 A CN 202110865222A CN 113927611 B CN113927611 B CN 113927611B
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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
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a robot tail end gripper which comprises a gripper plate, an extension plate, a finger joint component and a thumb joint component.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot tail end gripper.
Background
The robot gripper is used as an effective extension of a human movable limb, can complete flexible and fine gripping operation, and is a popular research direction in the field of robots, has the advantages of strong universality, rich sensing capability, capability of realizing closed-loop control meeting position and force, accuracy, stable gripping and the like, and therefore plays an increasingly important role in the fields of space exploration, dangerous environment operation, medical engineering, industrial production, service robots and the like.
However, the existing robot gripper has great defects in the use process, the existing robot gripper has great difference with hands, manual operation cannot be better replaced, the existing robot gripper is not flexible enough to use, the cooperation between fingers is not flexible enough, the use accuracy is reduced, the existing robot gripper is driven to depend on a robot body, the gripper is too clumsy, meanwhile, the robot gripper is not convenient enough to mount, the dismounting and mounting convenience is reduced, the size of the palm cannot be changed, the use flexibility is reduced, and meanwhile, the gripping capability is reduced, so that the use range is reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a robot tail end gripper.
The technical scheme adopted by the invention for solving the technical problems is as follows: a robot tail end gripper comprises a palm plate, an extension plate, finger joint components and a thumb joint component, wherein the palm plate is of a hollow structure, extension openings and mounting openings are formed in two ends of the palm plate respectively, a plurality of sliding rods are welded in the palm plate, the extension plate is arranged on the plurality of sliding rods in a sliding fit mode, a plurality of finger joint components are mounted at one end of the extension plate, the gripper is closer to a human hand by arranging the finger joint components, the gripper can complete manual operation and further replaces manual operation, meanwhile, the gripper is closer to the human hand, the gripper has more functions and stronger gripping force by arranging the finger joint components, the operation capacity of the robot tail end gripper is improved, the use range of the gripper is enlarged, the finger joint components are all located at one end, close to the extension openings, of one side of the palm plate, a thumb movable opening is formed in the position, close to the top, and the thumb movable opening is provided with the thumb joint component;
the size of the cross section of the extension plate is matched with that of the cross section of the palm plate, a plurality of sliding rings are welded on one side of the extension plate, the sliding rings are respectively matched with the sliding rods, the sliding rings are respectively matched on the sliding rods in a sliding mode, a plurality of finger frames are welded at one end, close to the extension opening, of the extension plate, the extension length of the finger joint assembly is controlled by moving the extension plate, so that the size of the palm center of the hand grip can be flexibly changed, meanwhile, the application scene of the hand grip is wider by changing the size of the palm center of the hand grip, the application range of the hand grip is further enlarged, and the size of the palm center of the hand grip is enlarged;
the finger joint assembly comprises a first finger joint and a second finger joint, one end of the first finger joint close to the extension plate is hinged with the finger frame, one end of the first finger joint far away from the extension plate is hinged with the second finger joint, the finger joint assembly is controlled by rotating the first finger joint and the second finger joint, the finger joint assembly is controlled, the finger joint assembly can be bent and extended, and the finger joint assembly is more flexible to operate;
the thumb joint component comprises a rotary drum, a first thumb joint and a second thumb joint, the rotary drum is matched on a thumb movable opening in a rotating mode, a connecting block is arranged on one side of the rotary drum, one end, far away from the rotary drum, of the connecting block is hinged to the first thumb joint, one end, far away from the connecting block, of the first thumb joint is hinged to the second thumb joint, and operation of the thumb joint component is flexible and changeable.
Preferably, the cross section of the mounting opening is of a circular structure, a bearing is mounted at one end, close to the mounting opening, of the palm plate, the hand grip can rotate on the robot through the bearing, the hand grip is more flexible and convenient to use on the robot, the mounting spiral ring is arranged on the bearing inner sleeve, and the hand grip is simpler to mount and dismount on the robot through the mounting spiral ring, so that the mounting and dismounting convenience of the hand grip is improved, and the mounting and dismounting convenience of the hand grip is improved.
Preferably, palm inboard welding has the fixed plate, and the one end that the fixed plate is close to the expansion mouth is installed the pneumatic cylinder, and the one end that the fixed plate was kept away from to the pneumatic cylinder is equipped with the hydraulic stem, and the one end that the pneumatic cylinder was kept away from to the hydraulic stem is connected with the push pedal, and the push pedal welding is in one side of extending the board, drives through the pneumatic cylinder, makes the hydraulic stem remove, and the hydraulic stem drives the push pedal, promotes extending the board through the push pedal, makes extending the board slide on the slide bar.
Preferably, first motor is all installed to one side of a plurality of finger rest, and a plurality of first motor all is located a plurality of finger rest and keeps away from the one end of extending the board, and a plurality of first motor all indicates first joint through pivot and a plurality of branch and is connected, drives through first motor, makes the first joint of branch indicate around the finger rest rotation.
Preferably, a second motor is installed on one side of each of the plurality of finger-separating first joints, the plurality of second motors are located at one ends, away from the finger rest, of the plurality of finger-separating first joints, the plurality of second motors are connected with the plurality of finger-separating second joints through rotating shafts, and the second motors are driven to enable the finger-separating second joints to be located at the finger-separating first joints to rotate.
Preferably, a third motor is fixed in the palm plate, the third motor is located at one end, close to the mounting opening, inside the palm plate, and one end of the third motor is connected with a first gear through a rotating shaft.
Preferably, one side of rotary drum is equipped with the pinion rack, and the pinion rack is the arc structure, and the pinion rack is located the rotary drum and keeps away from one side of connecting block, and pinion rack and first gear connection drive through the third motor, make first gear revolve, through rotating first gear, make the rotary drum rotate.
Preferably, install the fourth motor on the first joint of thumb, the one end of fourth motor is connected with the third gear through the pivot, and the third gear is located the one end that the fourth motor is close to the connecting block, and the one end that the rotary drum was kept away from to the connecting block is fixed with the second gear, and second gear and third gear meshing drive whole thumb joint subassembly through the rotary drum and rotate, drive through the fourth motor, make third gear revolve, through rotating the third gear, make the first joint of thumb rotate.
Preferably, a fifth motor is installed on one side of the first joint of the thumb, the fifth motor is located at one end, close to the second joint of the thumb, of the first joint of the thumb, the fifth motor is connected with the second joint of the thumb through a rotating shaft, and the fifth motor drives the second joint of the thumb to rotate.
Preferably, the use method of the robot end gripper specifically comprises the following steps:
the method comprises the following steps: the first motor drives the first finger-dividing joint to rotate around the finger frame, the second motor drives the second finger-dividing joint to rotate at the first finger-dividing joint, and the first finger-dividing joint and the second finger-dividing joint are rotated to control the finger-dividing joint assembly;
step two: the first gear is driven to rotate by a third motor, the rotary drum is driven to rotate by rotating the first gear, the whole thumb joint component is driven to rotate by the rotary drum, the third gear is driven to rotate by a fourth motor, the first thumb joint is driven to rotate by rotating the third gear, the second thumb joint is driven to rotate by a fifth motor, and the first thumb joint is rotated by rotating the thumb joint component, so that the second thumb joint is rotated to control the thumb joint component;
step three: the finger joint assembly is controlled by controlling the thumb joint assembly, so that the gripper is controlled, and the gripping operation of the gripper is realized.
The invention has the beneficial effects that:
(1) According to the robot tail end gripper, the first motor and the second motor are used for driving, the finger joint components are controlled, the finger joint components can be bent and stretched, the operation of the finger joint components is more flexible, the flexibility of the operation of the robot tail end gripper is improved, the gripper is closer to a hand by arranging the plurality of finger joint components, the gripper can be used for the operation which can be completed by manual work, the manual operation is replaced, the fatigue of the manual operation is reduced, the production efficiency is improved, meanwhile, the gripper is closer to the hand, the manual work is replaced in the production and processing field, the risk of accidental injury of personnel is reduced, the functions of the gripper are more, the gripping force is stronger by arranging the plurality of finger joint components, the operation capacity of the robot tail end gripper is improved, and the application range of the gripper is improved.
(2) According to the robot tail end gripper, the third motor, the fourth motor and the fifth motor are used for driving, so that the thumb joint assembly is more flexibly controlled, the flexibility of the gripper is further improved, meanwhile, the operation of the thumb joint assembly is more flexible and changeable, the operation of the gripper is more accurate, the use accuracy of the gripper is improved, the gripper can rotate on a robot through the bearing, the gripper is more flexible and convenient to use on the robot, the flexibility of the gripper is further improved, the gripper is simpler to mount and dismount on the robot through the mounting spiral ring, the mounting and dismounting convenience of the gripper is further improved, and the maintenance and overhaul convenience of the gripper is facilitated through the mounting and dismounting convenience of the gripper.
(3) According to the robot tail end gripper, the hydraulic rod is driven by the hydraulic cylinder to move, the hydraulic rod drives the push plate, the extension plate is pushed by the push plate to slide on the slide rod, the extension length of the finger joint component is controlled by moving the extension plate, the size of the palm of the gripper can be flexibly changed, the flexibility of the gripper in use is further improved, meanwhile, the application scene of the gripper is wider by changing the size of the palm of the gripper, the application range of the gripper is further improved, the size of the palm of the gripper is expanded by driving of the hydraulic cylinder, the size of the gripper is further improved, and the gripping capability of the gripper is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the assembly structure of the palm plate and the extension plate of the present invention.
FIG. 3 is a schematic view of the assembly structure of the extension plate and the hydraulic cylinder of the present invention.
FIG. 4 is a schematic view of the assembly structure of the extension plate and the finger joint assembly according to the present invention.
Fig. 5 is a schematic structural view of the thumb joint assembly of the present invention.
Fig. 6 is a schematic structural view of a third motor according to the present invention.
FIG. 7 is a schematic view of the assembly structure of the rotary drum and the first thumb joint of the present invention.
Fig. 8 is a schematic view of the bearing structure of the present invention.
In the figure: 1. a palm plate; 101. an expansion port; 102. an installation port; 103. a thumb-movable opening; 104. a slide bar; 2. an extension plate; 201. a slip ring; 202. a finger rest; 3. a fixing plate; 301. a hydraulic cylinder; 302. a hydraulic lever; 303. pushing the plate; 4. a finger joint assembly; 401. a first finger joint; 402. a first motor; 403. a second joint of the index finger; 404. a second motor; 5. a thumb joint assembly; 501. a third motor; 502. a first gear; 503. a rotating drum; 504. a toothed plate; 505. connecting blocks; 506. a second gear; 507. a first thumb joint; 508. a fourth motor; 509. a third gear; 510. a thumb second joint; 511. a fifth motor; 6. a bearing; 7. and (4) installing a spiral ring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-8, the robot end gripper disclosed by the invention comprises a palm plate 1, an extension plate 2, finger joint assemblies 4 and a thumb joint assembly 5, wherein the palm plate 1 is of a hollow structure, two ends of the palm plate 1 are respectively provided with an extension opening 101 and a mounting opening 102, a plurality of sliding rods 104 are welded in the palm plate 1, the extension plate 2 is slidably matched on the plurality of sliding rods 104, one end of the extension plate 2 is provided with the plurality of finger joint assemblies 4, the gripper is closer to a human hand by arranging the plurality of finger joint assemblies 4, the gripper can be used for manual operation, the manual operation is replaced, the fatigue of the manual operation is reduced, the production efficiency is improved, meanwhile, the gripper is closer to the human hand in the production and processing field, the risk of accidental injury of the human is reduced, the gripper is enabled to have more functions and stronger gripping force by arranging the plurality of finger joint assemblies 4, the gripper is enabled to be closer to the top of the thumb joint assembly 103, the thumb joint assembly 103 is arranged at one end of the thumb joint assembly 1, and the movable joint assembly 103 is close to the top of the thumb joint assembly 1;
the size of the cross section of the extension plate 2 is matched with that of the cross section of the palm plate 1, a plurality of sliding rings 201 are welded on one side of the extension plate 2, the plurality of sliding rings 201 are respectively matched with the plurality of sliding rods 104, the plurality of sliding rings 201 are respectively matched on the plurality of sliding rods 104 in a sliding mode, a plurality of finger frames 202 are welded at one end, close to the expansion port 101, of the extension plate 2, the extension length of the finger joint component 3 is controlled by moving the extension plate 2, the size of the palm center of the hand grip can be flexibly changed, the use flexibility of the hand grip is further improved, meanwhile, the application scene of the hand grip is wider by changing the size of the palm center of the hand grip, the application range of the hand grip is further improved, the size of the hand grip is improved by expanding the size of the palm center of the hand grip, and the gripping capability of the hand grip is improved;
the finger joint assembly 4 comprises a first finger joint 401 and a second finger joint 403, one end of the first finger joint 401, which is close to the extension plate 2, is hinged with the finger frame 202, one end of the first finger joint 401, which is far away from the extension plate 2, is hinged with the second finger joint 403, the finger joint assembly 4 is controlled by rotating the first finger joint 401 and the second finger joint 403, the finger joint assembly 4 is controlled, the finger joint assembly 4 can be bent and extended, the operation of the finger joint assembly 4 is more flexible, and the flexibility of the operation of the robot end gripper is improved;
the thumb joint component 5 comprises a rotary drum 503, a first thumb joint 507 and a second thumb joint 510, the rotary drum 503 is rotatably matched on the thumb movable opening 103, a connecting block 505 is arranged on one side of the rotary drum 503, one end, far away from the rotary drum 503, of the connecting block 505 is hinged to the first thumb joint 507, one end, far away from the connecting block 505, of the first thumb joint 507 is hinged to the second thumb joint 510, the operation of the thumb joint component 5 is flexible and changeable, the operation of the gripper is accurate, and the use accuracy of the gripper is improved.
The cross section of the mounting hole 102 is of a circular structure, a bearing 6 is mounted at one end, close to the mounting hole 102, of the palm plate 1, through the arrangement of the bearing 6, the hand grab can rotate on the robot, the hand grab is more flexible and convenient to use on the robot, and therefore the use flexibility of the hand grab is further improved, an installation spiral ring 7 is arranged in the bearing 6 in a sleeved mode, through the use of the installation spiral ring 7, the hand grab is simpler to install and detach on the robot, the installation and detachment convenience of the hand grab is further improved, and through the improvement of the installation and detachment convenience of the hand grab, convenience is brought to maintenance and overhaul of the hand grab.
The inside welding of palm board 1 has fixed plate 3, pneumatic cylinder 301 is installed to the one end that fixed plate 3 is close to extension mouth 101, the one end that fixed plate 3 was kept away from to pneumatic cylinder 301 is equipped with hydraulic stem 302, the one end that hydraulic stem 302 kept away from pneumatic cylinder 301 is connected with push pedal 303, push pedal 303 welds in the one side of extending board 2, drive through pneumatic cylinder 301, make hydraulic stem 302 remove, hydraulic stem 302 drives push pedal 303, promote extending board 2 through push pedal 303, make extending board 2 slide on slide bar 104.
A third motor 501 is fixed in the palm plate 1, the third motor 501 is located at one end of the palm plate 1 close to the mounting opening 102, and one end of the third motor 501 is connected with a first gear 502 through a rotating shaft.
One side of rotary drum 503 is equipped with pinion rack 504, and pinion rack 504 is the arc structure, and pinion rack 504 is located rotary drum 503 and keeps away from one side of connecting block 505, and pinion rack 504 is connected with first gear 502, drives through third motor 501, makes first gear 502 rotate, through rotating first gear 502, makes rotary drum 503 rotate.
Install fourth motor 508 on the first joint 507 of thumb, the one end of fourth motor 508 is connected with third gear 509 through the pivot, third gear 509 is located the one end that fourth motor 508 is close to connecting block 505, the one end that the rotary drum 503 was kept away from to connecting block 505 is fixed with second gear 506, second gear 506 meshes with third gear 509, drive whole thumb joint subassembly 5 through rotary drum 503 and rotate, drive through fourth motor 508, make third gear 509 rotate, through rotating third gear 509, make the first joint 507 of thumb rotate.
A fifth motor 511 is installed on one side of the first joint 507 of the thumb, the fifth motor 511 is located at one end of the first joint 507 of the thumb close to the second joint 510 of the thumb, and the fifth motor 511 is connected with the second joint 510 of the thumb through a rotating shaft and is driven by the fifth motor 511 to rotate the second joint 510 of the thumb.
The use method of the robot tail end gripper specifically comprises the following steps:
the method comprises the following steps: the first finger-dividing joint 401 rotates around the finger frame 202 under the drive of the first motor 402, the second finger-dividing joint 403 is positioned at the first finger-dividing joint 401 and rotates under the drive of the second motor 404, and the finger-dividing joint assembly 4 is controlled by rotating the first finger-dividing joint 401 and the second finger-dividing joint 403;
step two: the first gear 502 is rotated by the driving of the third motor 501, the rotary drum 503 is rotated by rotating the first gear 502, the whole thumb joint component 5 is driven to rotate by the rotary drum 503, the third gear 509 is driven to rotate by the fourth motor 508, the first thumb joint 507 is rotated by rotating the third gear 509, the second thumb joint 510 is rotated by the driving of the fifth motor 511, and the second thumb joint 510 is rotated by rotating the thumb joint component 5, rotating the first thumb joint 507, rotating the second thumb joint 510, and controlling the thumb joint component 5;
step three: the thumb joint assembly 5 is controlled, the finger joint assembly 4 is controlled, the gripper is controlled, and the gripping operation of the gripper is realized.
When in use, firstly, the first finger-dividing joint 401 is driven by the first motor 402 to rotate around the finger frame 202, the second finger-dividing joint 403 is driven by the second motor 404 to rotate around the first finger-dividing joint 401, the finger-dividing joint assembly 4 is controlled by rotating the first finger-dividing joint 401 and the second finger-dividing joint 403, the finger-dividing joint assembly 4 is controlled by driving the first motor 402 and the second motor 404, the finger-dividing joint assembly 4 can be bent and extended, the operation of the finger-dividing joint assembly 4 is more flexible, so that the flexibility of the operation of the gripper at the tail end of the robot is improved, the gripper is closer to a human hand by arranging a plurality of finger-dividing joint assemblies 4, the gripper can be used for the operation which can be completed by manpower, the manual operation is replaced, the fatigue of the manual operation is reduced, the production efficiency is improved, and simultaneously, the gripper is closer to a human hand, the gripper replaces manual work in the field of production and processing, the risk of accidental injury of personnel is reduced, the gripper has more functions and stronger gripping force by arranging the plurality of finger joint components 4, the operating capacity of the gripper at the tail end of the robot is improved, the application range of the gripper is improved, then the gripper is driven by the third motor 501 to rotate the first gear 502, the drum 503 is rotated by rotating the first gear 502, the whole thumb joint component 5 is driven by the drum 503 to rotate, the third gear 509 is driven by the fourth motor 508 to rotate, the first joint 507 of the thumb is rotated by rotating the third gear 509, the second joint 510 of the thumb is rotated by driving the fifth motor 511, the first joint 507 of the thumb is rotated by rotating the thumb joint component 5, the second joint 510 of the thumb is rotated to control the thumb joint component 5 of the thumb, the gripper is driven by the third motor 501, the fourth motor 508 and the fifth motor 511, so that the control of the thumb joint assembly 5 is more flexible, the use flexibility of the gripper is further improved, meanwhile, the operation of the thumb joint assembly 5 is more flexible and variable, the operation of the gripper is more accurate, the use accuracy of the gripper is improved, the gripper can rotate on the robot by arranging the bearing 6, the gripper can be more flexibly and conveniently used on the robot, the use flexibility of the gripper is further improved, the gripper is more simply mounted and dismounted on the robot by using the mounting spiral ring 7, the mounting and dismounting convenience of the gripper is further improved, the mounting and dismounting convenience of the gripper is improved, the maintenance and the overhaul of the gripper are facilitated by improving the mounting and dismounting convenience of the gripper, finally, the gripper joint assembly 4 is controlled by controlling the thumb joint assembly 5, the control of the gripper is realized, the gripping operation of the gripper is realized, the hydraulic cylinder 301 is driven, the hydraulic rod 302 is driven to drive the push plate 303, the extension plate 303 is pushed by the push plate, the extension plate 2, the extension of the slide rod 104 is further controlled, the extension range of the gripper is further improved, the use range of the gripper is further improved, and the gripper can be further improved by changing the use range of the gripper assembly, and the gripper.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a terminal tongs of robot, includes palm board (1), extension board (2), divides finger joint subassembly (4) and thumb joint subassembly (5), its characterized in that: the palm plate (1) is of a hollow structure, an expansion port (101) and a mounting port (102) are formed in each of two ends of the palm plate (1), a plurality of sliding rods (104) are welded in the palm plate (1), a plurality of sliding rods (104) are slidably matched with an extension plate (2), a plurality of finger joint assemblies (4) are mounted at one end of the extension plate (2), the finger joint assemblies (4) are all located at one end, close to the expansion port (101), of the palm plate (1), a thumb moving port (103) is formed in a position, close to the top, of one side of the palm plate (1), and a thumb joint assembly (5) is mounted in the thumb moving port (103);
the cross section of the extension plate (2) is matched with that of the palm plate (1), a plurality of sliding rings (201) are welded on one side of the extension plate (2), the sliding rings (201) are respectively matched with the sliding rods (104), the sliding rings (201) are respectively in sliding fit on the sliding rods (104), and a plurality of finger frames (202) are welded at one end, close to the expansion port (101), of the extension plate (2);
the finger-dividing joint assembly (4) comprises a first finger-dividing joint (401) and a second finger-dividing joint (403), one end, close to the extension plate (2), of the first finger-dividing joint (401) is hinged with the finger frame (202), and one end, far away from the extension plate (2), of the first finger-dividing joint (401) is hinged with the second finger-dividing joint (403);
the thumb joint component (5) comprises a rotary drum (503), a first thumb joint (507) and a second thumb joint (510), the rotary drum (503) is in running fit with the thumb activity opening (103), a connecting block (505) is arranged on one side of the rotary drum (503), one end, away from the rotary drum (503), of the connecting block (505) is hinged to the first thumb joint (507), and one end, away from the connecting block (505), of the first thumb joint (507) is hinged to the second thumb joint (510).
2. A robot end gripper according to claim 1, characterised in that: the cross section of the mounting opening (102) is of a circular structure, a bearing (6) is mounted at one end, close to the mounting opening (102), of the palm plate (1), and a mounting spiral ring (7) is sleeved in the bearing (6).
3. A robot end gripper according to claim 1, characterized in that: palm board (1) inside weld has fixed plate (3), and pneumatic cylinder (301) are installed to fixed plate (3) one end that is close to expansion mouth (101), and the one end that fixed plate (3) were kept away from in pneumatic cylinder (301) is equipped with hydraulic stem (302), and the one end that pneumatic cylinder (301) were kept away from in hydraulic stem (302) is connected with push pedal (303), and push pedal (303) welding is in one side of extension board (2).
4. A robot end gripper according to claim 1, characterised in that: first motor (402) are all installed to one side of a plurality of finger frame (202), and a plurality of first motor (402) all are located a plurality of finger frame (202) and keep away from the one end of extending board (2), and a plurality of first motor (402) all are connected through pivot and a plurality of first joint (401) of branch finger.
5. A robot end gripper according to claim 1, characterized in that: second motors (404) are installed on one sides of the plurality of finger-dividing first joints (401), the plurality of second motors (404) are located at one ends, far away from the finger frame (202), of the plurality of finger-dividing first joints (401), and the plurality of second motors (404) are connected with the plurality of finger-dividing second joints (403) through rotating shafts.
6. A robot end gripper according to claim 1, characterized in that: a third motor (501) is fixed in the palm plate (1), the third motor (501) is located at one end, close to the mounting opening (102), in the palm plate (1), and one end of the third motor (501) is connected with a first gear (502) through a rotating shaft.
7. A robot end gripper according to claim 6, characterized in that: one side of rotary drum (503) is equipped with pinion rack (504), and pinion rack (504) are the arc structure, and pinion rack (504) are located rotary drum (503) and keep away from one side of connecting block (505), and pinion rack (504) are connected with first gear (502).
8. A robot end gripper according to claim 1, characterized in that: install fourth motor (508) on thumb first joint (507), the one end of fourth motor (508) is connected with third gear (509) through the pivot, and third gear (509) are located the one end that fourth motor (508) are close to connecting block (505), and the one end that rotary drum (503) were kept away from in connecting block (505) is fixed with second gear (506), second gear (506) and third gear (509) meshing.
9. A robot end gripper according to claim 1, characterized in that: a fifth motor (511) is arranged on one side of the first joint (507) of the thumb, the fifth motor (511) is positioned at one end, close to the second joint (510) of the thumb, of the first joint (507) of the thumb, and the fifth motor (511) is connected with the second joint (510) of the thumb through a rotating shaft.
10. A robot end gripper according to claim 1, characterized in that: the use method of the robot tail end gripper specifically comprises the following steps:
the method comprises the following steps: the first finger-dividing joint (401) rotates around the finger frame (202) under the drive of a first motor (402), the second finger-dividing joint (403) is positioned at the first finger-dividing joint (401) and rotates under the drive of a second motor (404), and the finger-dividing joint assembly (4) is controlled by rotating the first finger-dividing joint (401) and the second finger-dividing joint (403);
step two: the first gear (502) is rotated by driving of the third motor (501), the rotary drum (503) is rotated by rotating the first gear (502), the whole thumb joint component (5) is driven to rotate by the rotary drum (503), the third gear (509) is rotated by driving of the fourth motor (508), the first thumb joint (507) is rotated by rotating the third gear (509), the second thumb joint (510) is rotated by driving of the fifth motor (511), the first thumb joint (507) is rotated by rotating the thumb joint component (5), and the second thumb joint (510) is rotated by rotating the first thumb joint (507) to control the thumb joint component (5);
step three: the finger joint assembly (4) is controlled by controlling the thumb joint assembly (5), so that the control of the hand grip is realized, and the gripping operation of the hand grip is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865222.XA CN113927611B (en) | 2021-07-29 | 2021-07-29 | Terminal tongs of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865222.XA CN113927611B (en) | 2021-07-29 | 2021-07-29 | Terminal tongs of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113927611A CN113927611A (en) | 2022-01-14 |
| CN113927611B true CN113927611B (en) | 2022-12-13 |
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| CN101007405A (en) * | 2007-01-26 | 2007-08-01 | 清华大学 | Under-actuated multi-finger device of robot humanoid finger |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN204505285U (en) * | 2015-02-11 | 2015-07-29 | 江南大学 | A kind of variable configuration machinery palm |
| CN105662784A (en) * | 2016-03-24 | 2016-06-15 | 华中科技大学 | Wearable and portable hand rehabilitation training device |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
| CN110394819A (en) * | 2019-08-23 | 2019-11-01 | 西北工业大学 | Scalable electric drive manipulator |
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2021
- 2021-07-29 CN CN202110865222.XA patent/CN113927611B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007405A (en) * | 2007-01-26 | 2007-08-01 | 清华大学 | Under-actuated multi-finger device of robot humanoid finger |
| CN101486188A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Hand four fingers side extending apparatus of bionic robot |
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN204505285U (en) * | 2015-02-11 | 2015-07-29 | 江南大学 | A kind of variable configuration machinery palm |
| CN105662784A (en) * | 2016-03-24 | 2016-06-15 | 华中科技大学 | Wearable and portable hand rehabilitation training device |
| CN108544518A (en) * | 2018-06-14 | 2018-09-18 | 五邑大学 | A kind of active double mode rope driving the five fingers flexible manipulator |
| CN108972605A (en) * | 2018-09-10 | 2018-12-11 | 安阳市翔宇医疗设备有限责任公司 | A kind of bionic hand for simulating hand exercise |
| CN110394819A (en) * | 2019-08-23 | 2019-11-01 | 西北工业大学 | Scalable electric drive manipulator |
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| CN113927611A (en) | 2022-01-14 |
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