CN204471397U - A kind of bionical four finger-types close manipulator - Google Patents
A kind of bionical four finger-types close manipulator Download PDFInfo
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- CN204471397U CN204471397U CN201520142345.0U CN201520142345U CN204471397U CN 204471397 U CN204471397 U CN 204471397U CN 201520142345 U CN201520142345 U CN 201520142345U CN 204471397 U CN204471397 U CN 204471397U
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Abstract
Open a kind of bionical four finger-types of the utility model close manipulator, comprise fixed mount, direct current generator, mechanical finger and the transmission system for direct current generator driving mechanical finger movement, torque protection device is included in transmission system, described torque protection device comprises interior axle construction and outer ring structure, interior axle construction and direct current generator output shaft are coaxially fixedly arranged on the end of direct current generator output shaft, outer ring structure is sheathed in interior axle construction, on outer ring structure, circumference radial direction is evenly provided with and is no less than two radial direction through hole, elastomeric element and ball is equiped with in radial direction through hole, interior axle construction is provided with the annular rolling groove mated with ball, on annular rolling groove, circumference radial direction is evenly provided with the ball grooves corresponding with radial direction through hole on outer ring structure, and the executing agency of worm-and-wheel gear as motor-driven and manipulator behavior is set.The utility model not only achieves the function of Shape closed, and effectively solves the control of mechanical finger to dynamics.
Description
Technical field
The utility model belongs to robot manipulation field, is specifically related to a kind of bionical four finger-types and closes manipulator.
Background technology
Today of robot develop rapidly, manipulator is that robot carries out one of mutual Main Means with extraneous.Robot needs are the same with the hand of the mankind has versatility and flexibility.Current, manipulator aspect put forth effort on by a lot of document.But great majority are all the specificity manipulators designed for concrete operations object, depart from after objectives and cannot use, the so highly bionical parts of robot cannot be served as.Further, for the object that intensity is less, manipulator can not dynamics excessive and hurt object.Certainly, some researchs are had to put forth effort on the research of bionic mechanical hand.Even like this, bring new problem: to the wearability of processing technology, material require higher, to there being higher restriction service life.
In current research, solution manipulator dynamics problem aspect mainly adds sensor or drive source is taked to start.It is little that the former implements difficulty, but to add how many sensors, in which position add be all the problem being difficult to determine, because can not determine that manipulator captures object particular location; Although the latter can solve dynamics problem by design cylinder pressure valve, need to add a pneumatic element, and the maximum tolerable pressure also needing user to input object is how many.
Utility model content
Controlling the problem of ability in order to solve manipulator dynamics, the utility model proposes a kind of bionical four finger-types and closing manipulator, achieve manipulator perfect dynamics when capturing object and control.
Bionical four finger-types of the one that the utility model proposes close manipulator, comprise fixed mount, direct current generator, mechanical finger and the transmission system for direct current generator driving mechanical finger movement, torque protection device is included in transmission system, described torque protection device comprises interior axle construction and outer ring structure, the annular diameters of outer ring structure is slightly larger than the diameter of interior axle construction, interior axle construction and direct current generator output shaft are coaxially fixedly arranged on the end of direct current generator output shaft, outer ring structure is sheathed in interior axle construction, on outer ring structure, circumference radial direction is evenly provided with and is no less than two radial direction through hole, elastomeric element and ball is equiped with in radial direction through hole, interior axle construction is provided with the annular rolling groove mated with ball, on annular rolling groove, circumference radial direction is evenly provided with the ball grooves corresponding with radial direction through hole on outer ring structure.
Under normal operating conditions, the ball be arranged in the radial direction through hole of outer ring structure is partially submerged in the ball grooves of interior axle construction annular rolling groove under the action of the spring, while in direct current generator output shaft drives, axle construction is rotated, outer ring structure and inner ring structure synchronization are rotated, driving device finger movement; When between outer ring structure and interior ring structure, moment of torsion is excessive, ball jumps out ball grooves under the effect of moment of torsion, and rotate in annular rolling groove, outer ring structure stops operating, and mechanical finger stops action.
Described transmission system also comprises the worm-and-wheel gear being driven also driving mechanical finger movement by torque protection device; worm-and-wheel gear comprises worm gear and worm screw; worm screw is connected by synchronous pulley with torque protection device outer ring structure, and mechanical finger is connected by pivot pin with worm gear.
On described outer ring structure, radial direction through hole comprises the hole one for loading ball and spring and penetrates for ball part and the hole two contacted with interior axle construction, the diameter in hole one is slightly larger than the diameter of ball, the diameter in hole two is slightly less than the diameter of ball, hole one is provided with screw thread near the direction of outer ring surface, fixes after loading ball and spring with bolt.
Described fixed mount is rectangle; mechanical finger is four and is symmetricly set in the corner of fixed mount; direct current generator is two; the roller end of each direct current generator sets firmly a torque protection device; the outer ring structure of one of them torque protection device is connected by synchronous pulley with the worm-and-wheel gear of adjacent two mechanical fingers simultaneously, and the outer ring structure of another torque protection device is connected by synchronous pulley with the worm-and-wheel gear of two other mechanical finger simultaneously.
The radial direction through hole of described outer ring structure is opened in the transverse center position of outer ring structure, and radial direction through hole both sides lateral symmetry is provided with two grooves connected for synchronous pulley.
The radial direction through hole that described outer ring structure is arranged is eight.
Described mechanical finger is arc mechanical finger.
The beneficial effects of the utility model comprise the following aspects:
(1) the utility model adopts the latching characteristics of worm and gear, and after motor is out of service, manipulator finger can not move because of the effect of external force, achieves the function of Shape closed;
(2) the utility model devises torque protection device, effectively solve the control of finger to dynamics, when after finger contact to object, can stall be there is in motor, motor output torque rises simultaneously, when motor output torque is greater than torque protection device nominal torque, torque protection device action, manipulator can realize Shape closed due to the latching characteristics of worm and gear, although torque protection device starts simultaneously, but now to worm and gear deceleration, motor still can think that input size is the moment of torsion of M, has certain stability characteristic (quality); In addition, the torque protection device in the utility model is easier than screw thread torque protection device to be realized, and screw thread torque protection device requires higher to processing technology, and sliding time can change its nominal torque value long afterwards.And the torque protection device longer service life in the utility model.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Wherein, 1 rectangular framework, 2 worm and gear belt wheels, 3 torque protection devices, 4 direct current generators, 5 worm reduction boxs, 6 finger mount, 7 rectangular framework fixtures, 8 arc mechanical fingers;
Fig. 2 is worm-and-wheel gear schematic diagram of the present utility model;
Wherein, 51 worm and gear frameworks, 52 worm screws, 53 worm gears, 6 finger mount, 8 arc mechanical fingers, 9 finger tips;
Fig. 3 position the utility model torque protection device structural representation;
Wherein, the installing hole of axle construction, 33 ball grooves, 34 balls and spring in 31 outer ring structure, 32.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly understand, further illustrate below in conjunction with drawings and Examples.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of bionical four finger-types of the present embodiment are closed mechanical hand and are comprised fixed mount, direct current generator, mechanical finger and the transmission system for direct current generator driving mechanical finger movement, are specially rectangular framework 1, worm and gear belt wheel 2, torque protection device 3, direct current generator 4, worm-and-wheel gear 5, finger mount 6, rectangular framework fixture 7, arc mechanical finger 8, finger tip 9; Worm reduction box 5 comprises worm and gear framework 51, worm screw 52, worm gear 53; Torque protection device 3 comprises the installing hole 34 of outer ring structure 31, interior axle construction 32, annular rolling groove, ball grooves 33, ball and spring.
The fixed mount of the present embodiment is rectangular framework 1; four arc mechanical finger 8 symmetries are installed in the corner of rectangular framework 1; the centre position coaxial-symmetrical of rectangular framework 1 is provided with two direct current generators 4; the roller end of each direct current generator 4 sets firmly a torque protection device 3; the outer ring structure of one of them torque protection device is connected by synchronous pulley with the worm-and-wheel gear of adjacent two arc mechanical fingers simultaneously, and the outer ring structure of another torque protection device is connected by synchronous pulley with the worm-and-wheel gear of two other arc mechanical finger simultaneously.
Torque protection device 3 is an important device of the present embodiment transmission system, it comprises interior axle construction 32 and outer ring structure 31, the annular diameters of outer ring structure 31 is slightly larger than the diameter of interior axle construction 32, outer ring structure 31 is sheathed in interior axle construction 32, interior axle construction 32 is coaxial and be fixedly arranged on the end of direct current generator 4 output shaft with direct current generator 4 output shaft, on outer ring structure 31, circumference radial direction is evenly provided with and is no less than the installing hole 34 of two radial direction through hole as ball and spring, the installing hole 34 of ball and spring comprises the hole one for loading ball and spring and penetrates for ball part and the hole two contacted with interior axle construction, the diameter in hole one is slightly larger than the diameter of ball, the diameter in hole two is slightly less than the diameter of ball, hole one is provided with screw thread near the direction of outer ring surface, fix with bolt after loading ball and spring, interior axle construction 32 is provided with the annular rolling groove mated with ball, on annular rolling groove, circumference radial direction is evenly provided with the ball grooves 33 corresponding with the installing hole 34 of ball and spring.In order to miniaturization and the stability of equipment, the present embodiment is provided with the installing hole 34 of eight radial direction through hole as ball and spring, and adopts diameter to be the ball of 1.5mm.
In the present embodiment, the installing hole 34 of ball and spring is positioned at the transverse center position of outer ring structure 31, and ball is provided with two grooves be connected for synchronous pulley with the installing hole 34 both sides lateral symmetry of spring.
Under normal operating conditions, ball in the installing hole 34 of ball and spring is partially submerged in the ball grooves 33 of interior axle construction 32 under the action of the spring, while in direct current generator 4 output shaft drives, axle construction 32 is rotated, make outer ring structure 31 and interior ring structure 32 synchronous axial system, drive the action of arc mechanical finger 8; When between outer ring structure 31 and interior ring structure 32, moment of torsion is excessive; ball jumps out ball grooves 33 under the effect of moment of torsion, thus the relatively rotating of ring structure 32 and outer ring structure 31 in realizing, outer ring structure 31 stops operating; arc mechanical finger 8 stops action, plays the effect of torque protection.
Worm-and-wheel gear 5 comprises worm gear 53 and worm screw 52, and worm screw 52 is connected by synchronous pulley with the outer ring structure 31 of torque protection device 5, and arc mechanical finger 8 is fixedly connected with finger mount 6, and finger mount 6 is connected by pivot pin with worm gear 53.
The folding of four arc mechanical fingers 8 is by torque protection device 3 and synchronous belt pulley transmission, moment of torsion is passed to worm-and-wheel gear 5, and then drives worm gear 53 to realize the action of arc mechanical finger 8 by worm screw 52.In whole process, due to the effect of torque protection device 3, arc mechanical finger 8 because of not knowing that stop motion crushes object or motor is burnt out, can not achieve the control of dynamics.Meanwhile, torque protection device due to worm-and-wheel gear 5 self-locking, also can not rebound because of the stretching handle arc mechanical finger 8 of object after starting, thus achieves Shape closed and grab steady object.
The above; be only the detailed description of the invention in the utility model; but protection domain of the present utility model is not limited thereto; any people being familiar with this technology is in the technical scope disclosed by the utility model; the conversion or replacement expected can be understood; all should be encompassed in and of the present utility modelly comprise within scope, therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (7)
1. bionical four finger-types close manipulator, comprise fixed mount, direct current generator, mechanical finger and the transmission system for direct current generator driving mechanical finger movement, it is characterized in that, torque protection device is included in transmission system, described torque protection device comprises interior axle construction and outer ring structure, the annular diameters of outer ring structure is slightly larger than the diameter of interior axle construction, interior axle construction and direct current generator output shaft are coaxially fixedly arranged on the end of direct current generator output shaft, outer ring structure is sheathed in interior axle construction, on outer ring structure, circumference radial direction is evenly provided with and is no less than two radial direction through hole, elastomeric element and ball is equiped with in radial direction through hole, interior axle construction is provided with the annular rolling groove mated with ball, on annular rolling groove, circumference radial direction is evenly provided with the ball grooves corresponding with radial direction through hole on outer ring structure,
Under normal operating conditions, the ball be arranged in the radial direction through hole of outer ring structure is partially submerged in the ball grooves of interior axle construction annular rolling groove under the action of the spring, while in direct current generator output shaft drives, axle construction is rotated, outer ring structure and inner ring structure synchronization are rotated, driving device finger movement; When between outer ring structure and interior ring structure, moment of torsion is excessive, ball jumps out ball grooves under the effect of moment of torsion, and rotate in annular rolling groove, outer ring structure stops operating, and mechanical finger stops action.
2. a kind of bionical four finger-types as claimed in claim 1 close manipulator; it is characterized in that; described transmission system also comprises the worm-and-wheel gear being driven also driving mechanical finger movement by torque protection device; worm-and-wheel gear comprises worm gear and worm screw; worm screw is connected by synchronous pulley with torque protection device outer ring structure, and mechanical finger is connected by pivot pin with worm gear.
3. a kind of bionical four finger-types as claimed in claim 1 or 2 close manipulator, on described outer ring structure, radial direction through hole comprises the hole one for loading ball and spring and penetrates for ball part and the hole two contacted with interior axle construction, the diameter in hole one is slightly larger than the diameter of ball, the diameter in hole two is slightly less than the diameter of ball, hole one is provided with screw thread near the direction of outer ring surface, fixes after loading ball and spring with bolt.
4. a kind of bionical four finger-types as claimed in claim 3 close manipulator; it is characterized in that; described fixed mount is rectangle; mechanical finger is four and is symmetricly set in the corner of fixed mount; direct current generator is two; the roller end of each direct current generator sets firmly a torque protection device; the outer ring structure of one of them torque protection device is connected by synchronous pulley with the worm-and-wheel gear of adjacent two mechanical fingers simultaneously, and the outer ring structure of another torque protection device is connected by synchronous pulley with the worm-and-wheel gear of two other mechanical finger simultaneously.
5. a kind of bionical four finger-types as claimed in claim 4 close manipulator, it is characterized in that, the radial direction through hole of described outer ring structure is opened in the transverse center position of outer ring structure, and radial direction through hole both sides lateral symmetry is provided with two grooves connected for synchronous pulley.
6. a kind of bionical four finger-types as claimed in claim 5 close manipulator, and it is characterized in that, the radial direction through hole that described outer ring structure is arranged is eight.
7. a kind of bionical four finger-types as claimed in claim 6 close manipulator, and it is characterized in that, described mechanical finger is arc mechanical finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142345.0U CN204471397U (en) | 2015-03-13 | 2015-03-13 | A kind of bionical four finger-types close manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520142345.0U CN204471397U (en) | 2015-03-13 | 2015-03-13 | A kind of bionical four finger-types close manipulator |
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| CN204471397U true CN204471397U (en) | 2015-07-15 |
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| CN201520142345.0U Active CN204471397U (en) | 2015-03-13 | 2015-03-13 | A kind of bionical four finger-types close manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669291A (en) * | 2015-03-13 | 2015-06-03 | 中国科学院自动化研究所 | Bionic four-finger-shaped closed mechanical hand |
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- 2015-03-13 CN CN201520142345.0U patent/CN204471397U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669291A (en) * | 2015-03-13 | 2015-06-03 | 中国科学院自动化研究所 | Bionic four-finger-shaped closed mechanical hand |
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