CN203510219U - Differential gear drive type adaptive manipulator - Google Patents
Differential gear drive type adaptive manipulator Download PDFInfo
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- CN203510219U CN203510219U CN201320670099.7U CN201320670099U CN203510219U CN 203510219 U CN203510219 U CN 203510219U CN 201320670099 U CN201320670099 U CN 201320670099U CN 203510219 U CN203510219 U CN 203510219U
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- tooth bar
- frame
- finger
- planetary gear
- drive system
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Abstract
The utility model discloses a differential gear drive type adaptive manipulator comprising an actuator and a drive system. The actuator comprises a frame, upper fingers and a lower finger. The drive system is fixed at the bottom of the frame. The output end of the drive system is fixedly connected with a planetary gear carrier. One side of a planetary gear disposed on the planetary gear carrier is connected with a reversing rack, and the other side of the planetary gear is connected with a lower actuating rack. An upper actuating rack meshes with an idle wheel which is disposed on an idle wheel shaft. The idle wheel shaft is fixedly connected with the frame. The tail end of the lower finger is connected with the frame through a slide rail in a sliding fit manner. The lower actuating rack of the lower finger meshes with the planetary gear. One toothed side of the reversing rack slidably connected to the lower finger meshes with the idle wheel, and the other toothed side of the reversing rack meshes with the planetary gear. The differential gear drive type adaptive manipulator is compact in structure and capable of reliably grabbing articles, is adaptive to the shape and positional deviations of target articles being grabbed, and is applicable to various automatic devices.
Description
Technical field
The utility model relates to automatic mechanical hand, is specially a kind of differential gear transmissions formula adaptive manipulator.
Background technology
Manipulator is the part action of imitating staff, realizes the automated machine device of automatic capturing, carrying or operation by preset sequence, track and requirement.
Manipulator is generally comprised of executing agency, driving mechanism, control system and position detecting device, by type of drive, generally can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type etc.In design in the past, the feature of robot movement mechanism is in the process capturing, manipulator need to be with respect to after being positioned by grabbing object, two fingers clamp to centre simultaneously, this type of manipulator requires the positioning precision of control system high, and crawled body form, size and good positioning consistency.
Under many circumstances, the position of crawled object and attitude be malleable not, manipulator with by grabbing object relative position, be difficult for accurately location.This just requires a finger after touching object, keep motionless, and another finger continues to approach object, and two fingers press from both sides in fact after all touching object again.Above-mentioned manipulator obviously cannot meet this requirement.
Utility model content
In order to overcome the deficiency of existing design, the purpose of this utility model is to propose a kind of differential gear transmissions formula adaptive manipulator with adaptation function, can adapt to the variation manipulator of object space and profile.
For realizing the technical scheme that the purpose of this utility model adopts, be:
A differential gear transmissions formula adaptive manipulator, comprises executing agency and drive system; Described executing agency comprises frame, upper finger and lower finger; Described drive system is fixedly installed on frame bottom; Output and the pinion frame of described drive system are affixed, on described pinion frame, by planet pin, are provided with planetary gear, and described planetary gear one side is connected with commutation tooth bar, and opposite side is connected with lower execution tooth bar; In described frame, be fixed with the guide rail with upper finger sliding connection; On described, point and be fixed with execution tooth bar, described upper execution tooth bar and idle pulley engagement; Described idle pulley is arranged on idler shaft, and idler shaft is fixedly connected with frame; Described lower finger tips is by slide rail and frame sliding connection, and described lower finger tips inner side is also connected with lower execution tooth bar; Described lower execution tooth bar and planetary gear engagement; On described lower finger, slidably connect commutation tooth bar, described commutation tooth bar one teeth side and idle pulley engagement, another teeth side and planetary gear engagement.
Advantage of the present utility model:
1, the utility model guarantees that manipulator has reliable contact with crawled thing, is not subject to the interference of crawled body form and change in location.
2, the utlity model has the function of adaptive location grabbing object, low to control system positioning accuracy request, be suitable for the demand of all kinds of automated arms.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of the utility model;
Fig. 2 is the profile forming along X-Z cutting plane in Fig. 1.
The specific embodiment
Below in conjunction with 1,2 pairs of the technical solution of the utility model of accompanying drawing, be described further:
A differential gear transmissions formula adaptive manipulator, comprises executing agency and drive system 1; Described executing agency comprises frame 4, upper finger 2 and lower finger 3; Described drive system 1 is fixedly installed on frame 4 bottoms; The output 13 of described drive system 1 is affixed with pinion frame 7, on described pinion frame 7, by planet pin 8, is provided with planetary gear 9, and described planetary gear 9 one sides are connected with commutation tooth bar 10, and opposite side is connected with lower execution tooth bar 6; In described frame 4, be fixed with the guide rail with upper finger 2 sliding connections; On described upper finger 2, be fixed with execution tooth bar 5, described upper execution tooth bar 5 and idle pulley 11 engagements; Described idle pulley 11 is arranged on idler shaft 12, and idler shaft 12 is fixedly connected with frame 4; Described lower finger 3 ends are by slide rail and frame 4 sliding connections, and described lower finger 3 end inner sides are also connected with lower execution tooth bar 6; Described lower execution tooth bar 6 and planetary gear 9 engagements; On described lower finger 3, slidably connect commutation tooth bar 10, described commutation tooth bar 10 1 teeth sides and idle pulley 11 engagements, another teeth side and planetary gear 9 engagements; Described idle pulley 11 is articulated with in frame 4 through idler shaft 12, around idler shaft 12, rotates.
Described planetary gear 9 and described idle pulley 11 respectively with two flank engagement of commutation tooth bar 10, form differential wheels.
Described drive system output 13 is fixed on described pinion frame 7, drives pinion frame 7 to move up and down, through differential wheels, and the switching displacement of finger 2 and lower finger 3 in realization.
Described drive system 1 can be fluid pressure type, pneumatic type, electrodynamic type, mechanical type.
The passage madial wall of described lower finger 3 and 10 sliding connections of commutation tooth bar, commutation tooth bar 10 is double cog dental structure.
Described lower finger 3 middle parts offer keeps supplying execution tooth bar 5 and the passage that passes of commutation tooth bar 10.
The frictional force that described pinion frame 7 and planetary gear are 9 is greater than the frictional force between commutation tooth bar 10 and lower finger 3, is also greater than the frictional force between lower execution tooth bar 6 and slide rail.Described upper finger 2 is not with described lower finger 3 when all touching by grabbing object, and its transmission speed is synchronous, and the direction of motion is contrary.
It is up that drive system output 13 promotes pinion frame 7, under planetary gear 9 drives, execution tooth bar 6 and commutation tooth bar 10 are up, by idle pulley 11, drive upper execution tooth bar 5 descending, upper finger 2 is descending, lower finger 3 is up, has realized by the clamping of grabbing object (depending on institute's grabbing object position).When drive system output 13 drives pinion frame 7 descending, upper finger 2 and lower finger 3 reverse movement, realized unclamping by grabbing object.
When described upper finger 2 formerly touches by grabbing object, because lower finger 3 does not also touch, without chucking power, so motionless by grabbing object.Described upper finger 2 is motionless under by the resistance of grabbing object, and upper execution tooth bar 5 is motionless, all motionless with idle pulley 11 and the commutation tooth bar 10 of its engagement.It is up that drive system output 13 continues to promote pinion frame 7, because commutating, tooth bar 10 is motionless, therefore planetary gear 9 rotates around planet pin 8 along the engagement limit of commutation tooth bar 10, continue to drive lower execution tooth bar 6 up simultaneously, until described lower finger 3 touches by grabbing object, in realization, finger 2 and lower finger 3 is differential, until 3 pairs of crawled objects of upper finger 2 and lower finger produce the chucking power of setting, realizes grasping movement.In like manner known, when described lower finger 3 first touches by grabbing object, also can realize differentially, realize grasping movement.
This operating process can guarantee that above-mentioned finger has reliable contact with crawled thing, is not subject to the interference of crawled body form and change in location.
Claims (7)
1. a differential gear transmissions formula adaptive manipulator, is characterized in that:
Comprise executing agency and drive system (1);
Described executing agency comprises frame (4), upper finger (2) and lower finger (3);
Described drive system (1) is fixedly installed on frame (4) bottom;
The output (13) of described drive system (1) is affixed with pinion frame (7), described pinion frame (7) is upper is provided with planetary gear (9) by planet pin (8), described planetary gear (9) one sides are connected with commutation tooth bar (10), and opposite side is connected with lower execution tooth bar (6);
In described frame (4), be fixed with the guide rail with upper finger (2) sliding connection;
On described upper finger (2), be fixed with execution tooth bar (5), described upper execution tooth bar (5) and idle pulley (11) engagement;
It is upper that described idle pulley (11) is arranged at idler shaft (12), and idler shaft (12) is fixedly connected with frame (4);
Described lower finger (3) end is by slide rail and frame (4) sliding connection, and described lower finger (3) end inner side is also connected with lower execution tooth bar (6); Described lower execution tooth bar (6) and planetary gear (9) engagement;
On described lower finger (3), slidably connect commutation tooth bar (10), described commutation tooth bar (10) one teeth sides and idle pulley (11) engagement, another teeth side and planetary gear (9) engagement.
2. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
It is upper that described idle pulley (11) is articulated with frame (4) through idler shaft (12), around idler shaft (12), rotates.
3. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
Described planetary gear (9) and described idle pulley (11) respectively with two flank engagement of commutation tooth bar (10), form differential wheels.
4. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
Described drive system output (13) is fixed on described pinion frame (7), drives pinion frame (7) to move up and down, through differential wheels, and the switching displacement of finger (2) and lower finger (3) in realization.
5. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
Described drive system (1) can be fluid pressure type, pneumatic type, electrodynamic type, mechanical type.
6. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
The passage madial wall of described lower finger (3) and the sliding connection of commutation tooth bar (10), commutation tooth bar (10) is double cog dental structure.
7. by differential gear transmissions formula adaptive manipulator claimed in claim 1, it is characterized in that:
Described lower finger (3) middle part offers to keep supplying carries out the passage that tooth bar (5) and commutation tooth bar (10) pass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320670099.7U CN203510219U (en) | 2013-10-25 | 2013-10-25 | Differential gear drive type adaptive manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320670099.7U CN203510219U (en) | 2013-10-25 | 2013-10-25 | Differential gear drive type adaptive manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203510219U true CN203510219U (en) | 2014-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320670099.7U Expired - Fee Related CN203510219U (en) | 2013-10-25 | 2013-10-25 | Differential gear drive type adaptive manipulator |
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| Country | Link |
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| CN (1) | CN203510219U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104799982A (en) * | 2015-05-14 | 2015-07-29 | 上海交通大学 | Single-motor underactuation prosthetic hand based on continuum differential mechanism |
| CN111805563A (en) * | 2020-06-30 | 2020-10-23 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
| CN113457355A (en) * | 2021-08-03 | 2021-10-01 | 洛阳万基铝加工有限公司 | Ash removal device for plate filter element |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115446618A (en) * | 2022-10-09 | 2022-12-09 | 苏迈特智能科技(江苏)有限公司 | Tooling positioning mechanism for machining center |
-
2013
- 2013-10-25 CN CN201320670099.7U patent/CN203510219U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104799982A (en) * | 2015-05-14 | 2015-07-29 | 上海交通大学 | Single-motor underactuation prosthetic hand based on continuum differential mechanism |
| CN104799982B (en) * | 2015-05-14 | 2016-10-19 | 上海交通大学 | Single motor drive lacking prosthetic hand based on continuum differential attachment |
| CN111805563A (en) * | 2020-06-30 | 2020-10-23 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
| CN111805563B (en) * | 2020-06-30 | 2021-10-01 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
| CN113457355A (en) * | 2021-08-03 | 2021-10-01 | 洛阳万基铝加工有限公司 | Ash removal device for plate filter element |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115446618A (en) * | 2022-10-09 | 2022-12-09 | 苏迈特智能科技(江苏)有限公司 | Tooling positioning mechanism for machining center |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140402 Termination date: 20161025 |
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| CF01 | Termination of patent right due to non-payment of annual fee |