CN115122370A

CN115122370A - Four-rod parallel dexterous hand with rolling ball

Info

Publication number: CN115122370A
Application number: CN202210869319.2A
Authority: CN
Inventors: 张兴; 杨明星; 卢亚星; 王逸捷
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-09-30

Abstract

The invention provides a four-rod parallel dexterous hand with rolling balls, which belongs to the field of mechanical arms and comprises a base, wherein a finger module is fixed on the base, a second sliding groove and a first sliding groove are symmetrically distributed on the base, a first sliding block in sliding connection is arranged in the first sliding groove, a finger module in fixed connection is also arranged on the first sliding block, and a fingertip rolling ball module is arranged on the finger module. The finger module comprises a second mounting plate, a four-bar mechanism is arranged on the second mounting plate, and the four-bar mechanism can drive the fingertip rolling ball module to rotate. The four-rod parallel dexterous hand with the rolling ball can realize clamping, rotating and overturning actions of objects, has a simple structure, a few driving sources and high stability, and can be widely applied to various high-precision technical fields.

Description

Four-rod parallel dexterous hand with rolling ball

Technical Field

The invention belongs to the field of manipulators, and particularly relates to a four-rod parallel dexterous hand with a rolling ball.

Background

The three-finger dexterous hand is used as an anthropomorphic tail end executing mechanism of the robot, has the characteristics of high flexibility, various operation modes, strong applicability and the like, can replace hands to finish fine operation tasks in high-precision and high-risk fields such as medical rehabilitation, aerospace, disaster rescue and the like, and has wide application value.

Although the existing dexterous hand can realize various complex actions, more joints and kinematic chains are required to be arranged for realizing the complex actions, the mechanism is complex, the cost is extremely high, and the production is difficult; meanwhile, the existing manipulator with a simple structure can only realize single clamping and putting-down actions and cannot turn and rotate an object, so that the manipulator with the simple structure and the flexibility of turning and rotating is necessary.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a four-rod parallel dexterous hand with a rolling ball to solve the problems in the background technology.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a take four bars of spin dexterous hand that connects in parallel, includes the base, be fixed with the finger module on the base, be equipped with second spout and the first spout of symmetric distribution on the base, be equipped with sliding connection's first slider in the first spout, also be equipped with fixed connection's finger module on the first slider, be equipped with fingertip spin module in the finger module.

Preferably, a first mounting plate fixedly connected is arranged in the second sliding groove, a first motor fixedly connected is arranged on the first mounting plate, a coupler fixedly connected is arranged on an output shaft of the first motor, the coupler is fixedly connected with the lead screw, a second sliding block in threaded connection is arranged on the lead screw, the second sliding block is in sliding fit with the second sliding groove, the second sliding groove limits the second sliding block to rotate, the second sliding block is rotatably connected with one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected with the first sliding block.

Preferably, the finger module comprises a second mounting plate, a third mounting plate and a fourth mounting plate are fixedly arranged on the second mounting plate, a second connecting rod connected in a rotating mode is arranged on the third mounting plate, a third connecting rod connected in a rotating mode is arranged on the fourth mounting plate, a fourth connecting rod connected in a rotating mode is arranged at the upper end of the third connecting rod, the fourth connecting rod is connected with the second connecting rod in a rotating mode, a second motor is further fixedly arranged on the second mounting plate, the output end of the second motor is fixedly connected with the third connecting rod, a supporting rod connected in a fixing mode is arranged on the fourth connecting rod, and a fingertip rolling ball module connected in a fixing mode is arranged on the supporting rod.

Preferably, fingertip spin module includes the motor connecting rod, motor connecting rod and bracing piece fixed connection, and motor connecting rod one end is equipped with fixed connection's motor fixing base, and motor fixing base internal fixation is equipped with the third motor, and the fixed fingertip spin cap that is equipped with on the output of third motor is equipped with interference fit's bearing on the motor connecting rod, is equipped with fixed connection's fingertip spin on the outer lane of bearing, fingertip spin and fingertip spin cap fixed connection.

The invention has the beneficial effects that:

the four-rod parallel dexterous hand with the rolling ball can realize clamping, rotating and overturning actions of objects, has a simple structure, a few driving sources and high stability, and can be widely applied to various high-precision technical fields.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a portion of the structure of the present invention;

FIG. 3 is a schematic view of a portion of the structure of the present invention;

FIG. 4 is an exploded view of a fingertip ball module of the present invention;

fig. 5 is a schematic view of the overall structure of the present invention.

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.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

Referring to fig. 1 to 5, a four-bar parallel dexterous hand with rolling balls comprises a base 1, a finger module 3 is fixed on the base 1, a second chute 5 and a first chute 4 which is symmetrically distributed are arranged on the base 1, a first sliding block 2 which is in sliding connection is arranged in the first chute 4, the finger module 3 which is fixedly connected is also arranged on the first sliding block 2, and a fingertip rolling ball module 6 which can swing is arranged on the finger module 3.

Further, a first mounting plate 56 fixedly connected is arranged in the second sliding chute 5, a first motor 51 fixedly connected is arranged on the first mounting plate 56, a coupler 55 fixedly connected is arranged on an output shaft of the first motor 51, the coupler 55 is fixedly connected with a lead screw 53, a second slider 52 in threaded connection is arranged on the lead screw 53, the second slider 52 is in sliding fit with the second sliding chute 5, the second sliding chute 5 limits the rotation of the second slider 52, the second slider 52 is rotatably connected with one end of a first connecting rod 54, the other end of the first connecting rod 54 is rotatably connected with the first slider 2, the first motor 51 drives the lead screw 53 to rotate, so that the second slider 52 slides in the second sliding chute 5, and then the first slider 2 is driven by the first connecting rod 54 to slide in the first sliding chute 4, so that the finger module 3 can perform clamping or opening actions, and the clamping range of a dexterous hand is increased.

Further, the finger module 3 includes a second mounting plate 31, a third mounting plate 32 and a fourth mounting plate 33 are fixedly arranged on the second mounting plate 31, a second connecting rod 36 connected in a rotating manner is arranged on the third mounting plate 32, a third connecting rod 35 connected in a rotating manner is arranged on the fourth mounting plate 33, a fourth connecting rod 37 connected in a rotating manner is arranged at the upper end of the third connecting rod 35, the fourth connecting rod 37 is connected in a rotating manner with the second connecting rod 36, a second motor 34 is further fixedly arranged on the second mounting plate 31, the output end of the second motor 34 is fixedly connected with the third connecting rod 35, a supporting rod 38 fixedly connected with the fourth connecting rod 37 is arranged on the supporting rod 38, and a fingertip rolling ball module 6 fixedly connected with the supporting rod 38 is arranged on the supporting rod.

Further, fingertip spin module 6 includes motor connecting rod 63, motor connecting rod 63 and bracing piece 38 fixed connection, and motor connecting rod 63 one end is equipped with fixed connection's motor fixing base 65, and motor fixing base 65 internal fixation is equipped with third motor 64, and the fixed fingertip spin cap 66 that is equipped with on the output of third motor 64 is equipped with interference fit's bearing 62 on the motor connecting rod 63, is equipped with fixed connection's fingertip spin 61 on bearing 62's the outer lane, fingertip spin 61 and fingertip spin cap 66 fixed connection.

During the use, control first motor 51, can control finger module 3 and press from both sides the object tight or loosen, control second motor 34 can make fingertip spin module 6 form different angles, consequently can get the firm clamp of the object of different shapes to thereby drive fingertip spin 61 through third motor 64 and rotate and drive the vertical upset of object and horizontal rotation.

As shown in fig. 5, when the fingertip ball cap 66 is horizontal, the first motor 51 is controlled, the fingertip ball cap 66 presses the object tightly, and the fingertip ball cap 66 is controlled to rotate, so that the object can be driven to turn over in the vertical direction; when the fingertip rolling ball 61 inclines, the first motor 51 is controlled, the object is clamped through the fingertip rolling ball 61 and the side surface of the fingertip rolling ball cap 66, and the third motor 64 is controlled to drive the object to rotate in the horizontal direction.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. The utility model provides a take four-bar parallel dexterous hand of spin, includes base (1), its characterized in that, be fixed with finger module (3) on base (1), be equipped with second spout (5) and first spout (4) of symmetric distribution on base (1), be equipped with sliding connection's first slider (2) in first spout (4), also be equipped with fixed connection's finger module (3) on first slider (2), be equipped with finger module (6) of spin on finger module (3).

2. The four-bar parallel dexterous hand with the rolling ball as claimed in claim 1, wherein a first mounting plate (56) fixedly connected is arranged in the second sliding groove (5), a first motor (51) fixedly connected is arranged on the first mounting plate (56), a coupler (55) fixedly connected is arranged on an output shaft of the first motor (51), the coupler (55) is fixedly connected with a screw rod (53), a second sliding block (52) in threaded connection is arranged on the screw rod (53), the second sliding block (52) is in sliding fit with the second sliding groove (5), the second sliding groove (5) limits the second sliding block (52) to rotate, the second sliding block (52) is rotatably connected with one end of the first connecting rod (54), and the other end of the first connecting rod (54) is rotatably connected with the first sliding block (2).

3. The four-bar parallel dexterous hand with the rolling ball as claimed in claim 2, finger module (3) include second mounting panel (31), fixed third mounting panel (32) and fourth mounting panel (33) of being equipped with on second mounting panel (31), be equipped with second connecting rod (36) of rotating the connection on third mounting panel (32), be equipped with third connecting rod (35) of rotating the connection on fourth mounting panel (33), the upper end of third connecting rod (35) is equipped with fourth connecting rod (37) of rotating the connection, fourth connecting rod (37) rotate with second connecting rod (36) and are connected, still fixed second motor (34) of being equipped with on second mounting panel (31), the output and third connecting rod (35) fixed connection of second motor (34), be equipped with fixed connection's bracing piece (38) on fourth connecting rod (37), be equipped with fixed connection's fingertip spin module (6) on bracing piece (38).

4. The four-bar parallel dexterous hand with a rolling ball according to claim 3, wherein the fingertip rolling ball module (6) comprises a motor connecting rod (63), the motor connecting rod (63) is fixedly connected with the supporting rod (38), one end of the motor connecting rod (63) is provided with a fixedly connected motor fixing seat (65), a third motor (64) is fixedly arranged in the motor fixing seat (65), a fingertip rolling ball cap (66) is fixedly arranged at the output end of the third motor (64), the motor connecting rod (63) is provided with a bearing (62) in interference fit, the outer ring of the bearing (62) is provided with a fixedly connected fingertip rolling ball (61), and the fingertip rolling ball (61) is fixedly connected with the fingertip rolling ball cap (66).