CN203665529U - Mechanical arm with crossed and staggered mechanical fingers - Google Patents

Mechanical arm with crossed and staggered mechanical fingers Download PDF

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Publication number
CN203665529U
CN203665529U CN201320890360.4U CN201320890360U CN203665529U CN 203665529 U CN203665529 U CN 203665529U CN 201320890360 U CN201320890360 U CN 201320890360U CN 203665529 U CN203665529 U CN 203665529U
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CN
China
Prior art keywords
finger
flexible
mechanical finger
motor
belt wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201320890360.4U
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Chinese (zh)
Inventor
郭园
罗天洪
陈才
朱孙科
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Chongqing Jiaotong University
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Chongqing Jiaotong University
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Filing date
Publication date
Application filed by Chongqing Jiaotong University filed Critical Chongqing Jiaotong University
Priority to CN201320890360.4U priority Critical patent/CN203665529U/en
Application granted granted Critical
Publication of CN203665529U publication Critical patent/CN203665529U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a mechanical arm with crossed and staggered mechanical fingers. The mechanical arm comprises a base assembly, an arm assembly and a flexible hand arranged on the arm assembly, wherein the flexible hand comprises two pairs of flexible mechanical fingers and a driving part used for driving the flexible mechanical fingers to conduct picking and placing, the flexible mechanical fingers are crossed to form a crossed and staggered clamping structure, each flexible finger at least comprises three knuckles hinged in sequence, the inner clamping surface of at least one knuckle of each flexible finger is made of a flexible material, the driving part comprises a finger driving motor I, a finger driving motor II and belt wheel transmission mechanisms arranged corresponding to the flexible mechanical fingers respectively in a one-to-one mode, and the finger driving motor I and the finger driving motor II are used for driving the two pairs of oppositely arranged flexible mechanical fingers respectively. The clamping motion of each flexible mechanical finger is achieved through the belt wheel transmission pair. When the mechanical arm is used for clamping an irregular workpiece, the finger driving motors on the root portions of the fingers drive the knuckles of the fingers to rotate around the axis of the belt wheel transmission pair, the knuckles of the fingers are made to be bent according to different clamping requirements, and then the contact area between the mechanical arm and the workpiece is enlarged, the mechanical arm is made to be adapted to workpieces in different shapes, and universality is high.

Description

There is the manipulator of cross misconstruction mechanical finger
Technical field
The utility model relates to a kind of automation hold assembly, particularly a kind of manipulator with cross misconstruction mechanical finger.
Background technology
Manipulator is widely studied and applied as critical equipment comparatively main in important manufacturing equipment, is mainly used in the industries such as automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and equipment group and Ferrous Metallurgy.
In prior art, the principle that industry mechanical arm (fixture) generally adopts is for to complete clamping by driving, and function is comparatively single, particularly manipulator (fixture) itself, in order to guarantee chucking power, clamping face hardness is higher, and be integrated design, can complete specific clamping task.And in the time transporting workpiece for need and have relatively high expectations for the process of transporting, such as, the workpiece higher for precision, surface quality needs strict guarantee, proposes higher requirement to manipulator.And the shape of most workpiece irregular, existing robot manipulator structure is poor owing to obtaining adaptivity for out-of-shape, makes it not have versatility.Therefore, application has significant limitation.
Therefore need a kind of manipulator with certain adaptive ability, can be adapted to the clamping of difformity workpiece, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality simultaneously, versatility is stronger, saves on-the-spot use cost.
Utility model content
In view of this, the utility model provides a kind of manipulator with cross misconstruction mechanical finger, can be adapted to the clamping of difformity workpiece, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality simultaneously, versatility is stronger, saves on-the-spot use cost.
The manipulator with cross misconstruction mechanical finger of the present utility model, comprises pedestal assembly, arm assembly and is arranged at the flexible hand of arm assembly, flexible hand comprises two pairs of cross one another the flexible mechanical finger that forms right-angled intersection dislocation clamp structure and the drive parts that drive flexible mechanical finger pick-and-place, each described flexible finger at least comprises three hinged successively dactylus, have at least clamping face in a dactylus to be made by flexible material, described drive part comprises that being respectively used to drive two pairs is oppositely arranged finger actuation motor I and the finger actuation motor II that flexible mechanical is pointed, and the belt wheel transmission mechanism that corresponding each flexible mechanical finger arranges one by one, described belt wheel transmission mechanism comprises the secondary I of belt wheel transmission that is arranged at first knuckle and the secondary II of belt wheel transmission that is arranged at second knuckle, the secondary I of described belt wheel transmission comprises driving wheel I and the driven pulley I of coaxial setting, the secondary II of described belt wheel transmission comprises that the driving wheel II of coaxial setting and driven pulley II and the afterbody being driven by driven pulley II take turns, third knuckle root is connected with the wheel shaft of afterbody wheel.
Further, described arm assembly comprises front arm assembly and rear arm assembly, described front arm assembly comprises servomotor and hydraulic cylinder I, described hydraulic cylinder I cylinder body is fixedly connected with the output shaft of servomotor, described rear arm assembly comprises hydraulic cylinder II and forearm rotary drive motor, and described forearm rotary drive motor body and hydraulic cylinder II piston rod are fixedly connected to form the straight-bar structure arranging along transverse horizontal direction.
Further, described finger actuation motor I is fixedly installed on described hydraulic cylinder I piston rod, the the first flexible mechanical finger being oppositely arranged and the first knuckle root of the 3rd flexible mechanical finger are all connected in described finger actuation motor I, described finger actuation motor II is two that apportion is arranged at described servomotor both sides, and the second flexible mechanical finger being oppositely arranged is connected with corresponding finger actuation motor II respectively with the 4th flexible mechanical finger.
Further, described arm assembly also comprises the forearm driven unit for driving servomotor edge and hydraulic cylinder II axis vertical direction horizontal reciprocating to move, described forearm driven unit comprises that driving seat, screw pair I and leading screw drive servomotor, the screw mandrel of described screw pair I drives servomotor driven rotary by leading screw, the screw mandrel axis of described screw pair I is along arranging with hydraulic cylinder II axis vertical direction, and servomotor body is fixedly mounted on the nut of described screw pair I.
Further, described pedestal assembly comprises pedestal, pedestal electric rotating machine, screw pair II and leading screw drive motors II, described screw pair II and described pedestal in the vertical direction are equipped with, the leading screw of described screw pair II is by described leading screw drive motors II driven rotary, described pedestal is driven and is rotated around the axis of motor shaft by described pedestal electric rotating machine, and described hydraulic cylinder II cylinder body is fixedly installed on the nut of described screw pair II.
Further, described finger actuation motor I and described finger actuation motor II are by the belt wheel transmission mechanism transferring power of belt and each flexible mechanical finger.
Further, the secondary I of belt wheel transmission arranging in described first knuckle also comprises motor driving wheel, and described motor driving wheel connects by belt transmission with corresponding motor and drives the driving wheel I of the secondary I of belt wheel transmission to rotate.
Further, also comprise automatic control system, described automatic control system comprises:
Pressure sensor, is arranged at the clamping face inside of flexible mechanical finger dactylus for detection of the clamp pressure of each dactylus;
Central controller, for receiving the pressure signal of pressure sensor and sending command signal to the control system of the finger actuation motor of each flexible mechanical finger.
The beneficial effects of the utility model: the manipulator with cross misconstruction mechanical finger of the present utility model adopts the flexible mechanical finger with dactylus, each flexible mechanical finger is all realized clamping movement by belt wheel transmission pair, while clamping irregular workpiece, the finger actuation motor of finger root drives finger dactylus strip winding wheel transmission axis to rotate, make the dactylus of finger need to carry out bending according to different clampings, can increase the contact area with workpiece, also just can be adapted to the clamping of difformity workpiece, versatility is stronger, have at least a joint dactylus surface to adopt flexible material, in order to protect surface of the work injury-free, simultaneously, owing to increasing holding area, can be used in the clamping work of the workpiece of having relatively high expectations for surface accuracy and surface quality, be beneficial to assurance workpiece quality, save on-the-spot use cost.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is the utility model structural representation;
Fig. 2 is forearm driven unit structural representation;
Fig. 3 is finger dactylus cross-sectional view;
Fig. 4 is finger dactylus cross-sectional view.
The specific embodiment
Fig. 1 is the utility model structural representation, Fig. 2 is forearm driven unit structural representation, Fig. 3 is finger dactylus cross-sectional view, Fig. 4 is finger dactylus cross-sectional view, as shown in the figure: the manipulator with cross misconstruction mechanical finger of the present embodiment, comprises pedestal assembly, arm assembly and be arranged at the flexible hand of arm assembly, flexible hand comprises two pairs of cross one another the flexible mechanical finger that forms right-angled intersection dislocation clamp structure and the drive parts that drive flexible mechanical finger pick-and-place, as shown in the figure, flexible hand comprises the first flexible mechanical finger 1, the second flexible mechanical finger 2, the 3rd flexible mechanical finger 3 and four fingers 4 of the 4th flexible mechanical finger, wherein, the first flexible mechanical finger and the 3rd flexible mechanical finger are oppositely arranged, the second flexible mechanical finger and the 4th flexible mechanical finger are oppositely arranged, common formation criss-cross construction, each described flexible finger at least comprises three hinged successively dactylus, have at least clamping face in a dactylus to be made by flexible material, described drive part comprises that being respectively used to drive two pairs is oppositely arranged finger actuation motor I 5 and the finger actuation motor II 6 that flexible mechanical is pointed, and the belt wheel transmission mechanism that corresponding each flexible mechanical finger arranges one by one, described belt wheel transmission mechanism comprises the secondary I of belt wheel transmission that is arranged at first knuckle 1a and the secondary II of belt wheel transmission that is arranged at second knuckle 1b, the secondary I of described belt wheel transmission comprises driving wheel I 7 and the driven pulley I 8 of coaxial setting, the secondary II of described belt wheel transmission comprises the driving wheel II 9 of coaxial setting and driven pulley II 10 and the afterbody wheel 11 being driven by driven pulley II, third knuckle 1c root is connected with the wheel shaft of afterbody wheel, third knuckle 1c root is connected by a connecting rod 12 with the wheel shaft of afterbody wheel.
In the present embodiment, described arm assembly comprises front arm assembly and rear arm assembly, described front arm assembly comprises servomotor 13 and hydraulic cylinder I 14, described hydraulic cylinder I 14 cylinder bodies are fixedly connected with the output shaft of servomotor 13, described rear arm assembly comprises hydraulic cylinder II 15 and forearm rotary drive motor 16, and described forearm rotary drive motor 16 bodies and hydraulic cylinder II 15 piston rods are fixedly connected to form the straight-bar structure arranging along transverse horizontal direction; Described finger actuation motor I 5 is fixedly installed on described hydraulic cylinder I 14 piston rods, the the first flexible mechanical finger 1 being oppositely arranged and the first knuckle root of the 3rd flexible mechanical finger 3 are all connected in described finger actuation motor I 5, two of described finger actuation motor II 6 described servomotor 13 both sides for apportion is arranged at, the second flexible mechanical finger 2 being oppositely arranged is connected with corresponding finger actuation motor II 6 respectively with the 4th flexible mechanical finger 4; Guarantee that flexible hand has the free degree of rotating around forearm rotary drive motor output shaft axis and the free degree moving along axis horizontal direction.
In the present embodiment, described arm assembly also comprises the forearm driven unit for driving servomotor edge and hydraulic cylinder II axis vertical direction horizontal reciprocating to move, described forearm driven unit comprises that driving seat 17, screw pair I and leading screw drive servomotor 18, the screw mandrel 19 of described screw pair I drives servomotor 18 driven rotary by leading screw, screw mandrel 19 axis of described screw pair I are along arranging with hydraulic cylinder II axis vertical direction, and servomotor 13 bodies are fixedly mounted on the nut 20 of described screw pair I; Guarantee flexible hand have along with hydraulic cylinder II axis vertical direction on the free degree that moves horizontally.
In the present embodiment, described pedestal assembly comprises pedestal 21, pedestal electric rotating machine 22, screw pair II and leading screw drive motors II 23, described screw pair II and described pedestal 21 in the vertical directions are equipped with, the leading screw 24 of described screw pair II is by described leading screw drive motors II 23 driven rotary, described pedestal 21 is driven around the axis of motor shaft and is rotated by described pedestal electric rotating machine 22, and described hydraulic cylinder II 15 cylinder bodies are fixedly installed on the nut 25 of described screw pair II; Make flexible hand have the free degree that vertical direction moves and the free degree of rotating around vertical direction axis, flexible hand of the present utility model has five frees degree, multi-faceted pick-and-place workpiece, and the scope of application is wider.
In the present embodiment, described finger actuation motor I 5 and described finger actuation motor II 6 be the belt wheel transmission mechanism transferring power with each flexible mechanical finger by belt 26.
In the present embodiment, the secondary I of belt wheel transmission arranging in described first knuckle also comprises motor driving wheel 27, and described motor driving wheel connects by belt transmission with corresponding motor and drives the driving wheel I of the secondary I of belt wheel transmission to rotate.
In the present embodiment, also comprise automatic control system, described automatic control system comprises:
Pressure sensor 28, is arranged at the clamping face inside of flexible mechanical finger dactylus for detection of the clamp pressure of each dactylus;
Central controller 29, for receiving the pressure signal of pressure sensor and sending command signal to the control system of the finger actuation motor of each flexible mechanical finger.
Finally explanation is, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement the technical solution of the utility model, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of claim scope of the present utility model.

Claims (8)

1. a manipulator with cross misconstruction mechanical finger, is characterized in that: comprise pedestal assembly, arm assembly and be arranged at the flexible hand of arm assembly, flexible hand comprises two pairs of cross one another the flexible mechanical finger that forms right-angled intersection dislocation clamp structure and the drive parts that drive flexible mechanical finger pick-and-place, each described flexible mechanical finger at least comprises three hinged successively dactylus, have at least clamping face in a dactylus to be made by flexible material, described drive part comprises that being respectively used to drive two pairs is oppositely arranged finger actuation motor I and the finger actuation motor II that flexible mechanical is pointed, and the belt wheel transmission mechanism that corresponding each flexible mechanical finger arranges one by one, described belt wheel transmission mechanism comprises the secondary I of belt wheel transmission that is arranged at first knuckle and the secondary II of belt wheel transmission that is arranged at second knuckle, the secondary I of described belt wheel transmission comprises driving wheel I and the driven pulley I of coaxial setting, the secondary II of described belt wheel transmission comprises that the driving wheel II of coaxial setting and driven pulley II and the afterbody being driven by driven pulley II take turns, third knuckle root is connected with the wheel shaft of afterbody wheel.
2. the manipulator with cross misconstruction mechanical finger according to claim 1, it is characterized in that: described arm assembly comprises front arm assembly and rear arm assembly, described front arm assembly comprises servomotor and hydraulic cylinder I, described hydraulic cylinder I cylinder body is fixedly connected with the output shaft of servomotor, described rear arm assembly comprises hydraulic cylinder II and forearm rotary drive motor, and described forearm rotary drive motor body and hydraulic cylinder II piston rod are fixedly connected to form the straight-bar structure arranging along transverse horizontal direction.
3. the manipulator with cross misconstruction mechanical finger according to claim 2, it is characterized in that: described finger actuation motor I is fixedly installed on described hydraulic cylinder I piston rod, the the first flexible mechanical finger being oppositely arranged and the first knuckle root of the 3rd flexible mechanical finger are all connected in described finger actuation motor I, described finger actuation motor II is two that apportion is arranged at described servomotor both sides, and the second flexible mechanical finger being oppositely arranged is connected with corresponding finger actuation motor II respectively with the 4th flexible mechanical finger.
4. the manipulator with cross misconstruction mechanical finger according to claim 3, it is characterized in that: described arm assembly also comprises the forearm driven unit for driving servomotor edge and hydraulic cylinder II axis vertical direction horizontal reciprocating to move, described forearm driven unit comprises driving seat, screw pair I and leading screw drive servomotor, the screw mandrel of described screw pair I drives servomotor driven rotary by leading screw, the screw mandrel axis of described screw pair I is along arranging with hydraulic cylinder II axis vertical direction, servomotor body is fixedly mounted on the nut of described screw pair I.
5. the manipulator with cross misconstruction mechanical finger according to claim 4, it is characterized in that: described pedestal assembly comprises pedestal, pedestal electric rotating machine, screw pair II and leading screw drive motors II, described screw pair II and described pedestal in the vertical direction are equipped with, the leading screw of described screw pair II is by described leading screw drive motors II driven rotary, described pedestal is driven and is rotated around the axis of motor shaft by described pedestal electric rotating machine, and described hydraulic cylinder II cylinder body is fixedly installed on the nut of described screw pair II.
6. the manipulator with cross misconstruction mechanical finger according to claim 5, is characterized in that: described finger actuation motor I and described finger actuation motor II are by the belt wheel transmission mechanism transferring power of belt and each flexible mechanical finger.
7. the manipulator with cross misconstruction mechanical finger according to claim 6, it is characterized in that: the secondary I of belt wheel transmission arranging in described first knuckle also comprises motor driving wheel, described motor driving wheel connects by belt transmission with corresponding motor and drives the driving wheel I of the secondary I of belt wheel transmission to rotate.
8. the manipulator with cross misconstruction mechanical finger according to claim 7, is characterized in that: also comprise automatic control system, described automatic control system comprises:
Pressure sensor, is arranged at the clamping face inside of flexible mechanical finger dactylus for detection of the clamp pressure of each dactylus;
Central controller, for receiving the pressure signal of pressure sensor and sending command signal to the control system of the finger actuation motor of each flexible mechanical finger.
CN201320890360.4U 2013-12-31 2013-12-31 Mechanical arm with crossed and staggered mechanical fingers Expired - Fee Related CN203665529U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320890360.4U CN203665529U (en) 2013-12-31 2013-12-31 Mechanical arm with crossed and staggered mechanical fingers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320890360.4U CN203665529U (en) 2013-12-31 2013-12-31 Mechanical arm with crossed and staggered mechanical fingers

Publications (1)

Publication Number Publication Date
CN203665529U true CN203665529U (en) 2014-06-25

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476557A (en) * 2014-11-14 2015-04-01 无锡乐华自动化科技有限公司 Manipulator
CN104669293A (en) * 2015-03-28 2015-06-03 哈尔滨工业大学 Clamping type aerated capture tongs
CN104690463A (en) * 2015-03-18 2015-06-10 广西大学 Magic cube welding arm
CN104773267A (en) * 2015-04-16 2015-07-15 重庆交通大学 Self-adaptive fishing ship
CN104890002A (en) * 2015-03-20 2015-09-09 重庆交通大学 Self-adaptive mechanical arm device
CN105798976A (en) * 2014-12-31 2016-07-27 上海理工大学 Clamping mechanical hand of irregular bone cutting device
CN106041943A (en) * 2016-07-01 2016-10-26 苏州塞默机械有限公司 Circular pipe and circular hole wall grabbing mechanical arm and work method thereof
CN109201393A (en) * 2018-09-26 2019-01-15 张晓婷 A kind of auto spray painting device for steel tubes
CN109479585A (en) * 2018-11-19 2019-03-19 安徽丰絮农业科技股份有限公司 A kind of greenhouse film wrap-up

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476557A (en) * 2014-11-14 2015-04-01 无锡乐华自动化科技有限公司 Manipulator
CN105798976A (en) * 2014-12-31 2016-07-27 上海理工大学 Clamping mechanical hand of irregular bone cutting device
CN104690463A (en) * 2015-03-18 2015-06-10 广西大学 Magic cube welding arm
CN104890002B (en) * 2015-03-20 2016-09-07 重庆交通大学 Adaptive mechanical arm apparatus
CN104890002A (en) * 2015-03-20 2015-09-09 重庆交通大学 Self-adaptive mechanical arm device
CN104669293B (en) * 2015-03-28 2016-05-18 苗润琪 A kind of clipping inflation catching hand
CN104669293A (en) * 2015-03-28 2015-06-03 哈尔滨工业大学 Clamping type aerated capture tongs
CN104773267A (en) * 2015-04-16 2015-07-15 重庆交通大学 Self-adaptive fishing ship
CN106041943A (en) * 2016-07-01 2016-10-26 苏州塞默机械有限公司 Circular pipe and circular hole wall grabbing mechanical arm and work method thereof
CN109201393A (en) * 2018-09-26 2019-01-15 张晓婷 A kind of auto spray painting device for steel tubes
CN109479585A (en) * 2018-11-19 2019-03-19 安徽丰絮农业科技股份有限公司 A kind of greenhouse film wrap-up

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140625

Termination date: 20141231

EXPY Termination of patent right or utility model