CN206484587U - A kind of Artificial grip module based on flexible shaft - Google Patents

A kind of Artificial grip module based on flexible shaft Download PDF

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Publication number
CN206484587U
CN206484587U CN201720036390.7U CN201720036390U CN206484587U CN 206484587 U CN206484587 U CN 206484587U CN 201720036390 U CN201720036390 U CN 201720036390U CN 206484587 U CN206484587 U CN 206484587U
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finger
flexible shaft
pedestal
motor
module
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Expired - Fee Related
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CN201720036390.7U
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Chinese (zh)
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肖博屹
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肖博屹
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Abstract

A kind of Artificial grip module based on flexible shaft, the utility model is arranged apart by executing agency's finger and drive mechanism DC servo motor, traditional positive drive mode is different from, using flexible shaft transmission, the design can make paw integrated model compact, it is possible to carry out long-distance transmission.Ball-screw is driven by main motor, two fixed pedestal parallel motions, single finger can realize flexion and extension in the axial direction;Flexible shaft is driven to rotate by auxiliary motor, single finger can realize the rotation around axis direction again;The action for stepping up to unclamp can have both been realized after three finger motion combinations, the action of torsion can be realized again.Increase a passive freedom degree at each finger passive reset mechanism, when paw stops holding action, spring can drive elastic finger to set back.The utility model is simple and compact for structure, and the action of bionical clamping and torsion is realized by flexible shaft transmission, suitably the application in terms of capturing, turning.

Description

A kind of Artificial grip module based on flexible shaft
Technical field
The utility model belongs to robotic technology field, is related to a kind of Artificial grip module based on flexible shaft, is specifically It is a kind of that the Artificial grip for capturing and reversing two kinds of functions is realized by flexible shaft transmission.
Background technology
Robot technology be one combine mechanics, it is electronics, mechanics, biology, control theory, computer, artificial The high-tech in the multidisciplinary field such as intelligence, human engineering and system engineering, be 21 century most representational new and high technology it One.Bio-robot is increasingly paid close attention to by researchers in recent years, has become the superlative degree and most of current technology development The embodiment at tip.Bionics is an emerging subject, and bionic development promotes bionics synthesis closely related therewith Birth and development.The walking for imitating all kinds of animals, the action creeped, for mobile robot design and design provide it is fine Prospect.In bionic mechanical, bio-mechanism, as the important component of bionic mechanical, is the motion morphology of mimic biology, The function that physiological structure and control principle design and manufacture more concentration efficiency is higher, be more widely applied and have biological characteristic Mechanism.
Since nineteen sixty, First robot came out, robot technology has in fields such as national defence, research and production It is widely applied, is engaged in some complicated, dangerous or inhuman reachable work instead of the mankind, so as to alleviate the work of people Intensity, improves operating efficiency, expands the activity space of the mankind.But industrial robot both domestic and external is for special mostly at present Task design, what is used is also the single-degree-of-freedom end effector of clamp or parallel movable.The knot of this actuator Structure is simple, easy to control, for realizing that the grand movement operation of heavy load is largely effective, but there is the following aspects Shortcoming:
1. its clamping and positioning to object is realized by applying the frictional force produced by larger pressure, do not deposit Closed and force-closed in the geometry of crawl, therefore, it is difficult to reach very high crawl precision, stability and reliability;2. it is limited The fine manipulation level of robot system.Traditional robot adjusts terminal position by arm, and end appearance is adjusted by wrist State.Because the size of mechanical arm is larger, it is difficult to realize the accurate pose adjustment of object and operates, and dynamic response is poor;3. it Lack accurate power control, can be only done the less demanding operation of chucking power;4. the change of object profile is not adapted to.
Utility model content
The utility model is intended to the deficiency for above-mentioned existing machinery paw technology, designs a kind of based on the bionical of flexible shaft Gripper unit.Traditional being rigidly connected and be driven by the utility model, for example rack-and-pinion, worm and gear, chain, synchronous pulley Deng being replaced by flexible shaft transmission.In the utility model, drive mechanism bionic finger is separated with drive mechanism DC servo motor Arrangement, can be achieved long-distance transmission so that paw compact overall structure.Every bionic finger uses a flexible shaft transmission, i.e., Flexion and extension in the axial direction can be realized, the rotation around axis direction can be realized again, i.e., every bionic finger has 2 The free degree;Whole paw is made up of 3 bionic fingers, with 6 frees degree, and crawl can be realized after movement combination and is reversed Function.
The utility model solves the above problems what is be mainly achieved by following technical proposals:
A kind of Artificial grip module based on flexible shaft, it is characterised in that including motor mounting base, be fixed on motor peace Fill the drive mechanism on pedestal, the screw pair being coupled by coupling assembly and drive mechanism and be coupled with screw pair and can be with The finger mounted pedestal that the motion of screw pair moves reciprocatingly;Elastic finger module supports rotation platform to be arranged on hand by finger Refer in installation pedestal, finger support rotation platform is assembled by the vertical convex of counterpart and finger mounted pedestal and can be around perpendicular To convex axial-rotation, finger support rotation platform side fixed by resetting-mechanism with finger mounted pedestal, bottom with it is auxiliary Drive mechanism is helped to be coupled and can be driven under the reciprocating motion driving of auxiliary drive mechanism around vertical convex axial-rotation The action that elastic finger module is opened and closed.
The utility model as end effector Dextrous Hand equivalent to install on the robotic arm can independently realize essence One group of robot of thin operational movement, coarse positioning is realized by robots arm, is realized and is accurately positioned using Dextrous Hand.According to suitable When Grasp Modes and Grasp Planning algorithm, can theoretically capture the object of arbitrary shape and arbitrary is applied to object Motion and power, this has great significance to improving robot automtion level of operation.
In a kind of above-mentioned Artificial grip module based on flexible shaft, drive mechanism includes main DC servo motor, auxiliary Drive mechanism includes auxiliary DC servo motor and flexible shaft;The main DC servo motor passes through main DC servo motor and silk Bar pair mating, the screw pair includes ball-screw nut and ball-screw, and ball-screw coordinates with ball-screw nut to be transported Dynamic, one end is free end, and one end is connected by the axle of main motor shaft coupling and main DC servo motor;Finger mounted pedestal and rolling Screw nut is fixed together by screw-nut;Flexible shaft through finger support rotation platform through elastic finger module with Its tip is fixed.
In a kind of above-mentioned Artificial grip module based on flexible shaft, counterpart includes 2 deep groove ball bearings, finger support Rotation platform is assembled by the vertical convex of 2 deep groove ball bearings and finger mounted pedestal;Resetting-mechanism includes back-moving spring, multiple Position spring is fixed between the horizontal convex on rotation platform and the horizontal convex of finger mounted pedestal.
In a kind of above-mentioned Artificial grip module based on flexible shaft, in addition to the spacing slide rail of cylinder, main DC servo electricity Machine is fixed by screws on motor mounting base;Circular hole is opened in the motor mounting base position corresponding with the spacing slide rail of cylinder, The spacing slide rail of cylinder can be allowed slidably;Auxiliary DC servo motor is fixed by screws on motor mounting base, and motor shaft leads to Auxiliary motor shaft coupling is crossed to be fixedly connected with flexible shaft.
In a kind of above-mentioned Artificial grip module based on flexible shaft, elastic finger module is three, is circumferentially uniformly arranged Bonded on finger support rotation platform and with finger support rotation platform, elastic finger modular shape is arc, elastic finger Module and rotation platform are inner hollow.
The utility model has advantages below:1. overall structure is simply compact, without related unnecessary mechanism, sky is saved Between;2. each finger is driven by single flexible axle, it can be achieved to bend and stretch and rotate two kinds of forms of motion;3. three combinations of fingers fortune It is dynamic that whole Artificial grip crawl can be achieved and two kinds of functions are reversed;4. main motor realizes Artificial grip by ball-screw-transmission Crawl function, 3 finger motion synchronizations, safety and reliability is readily obtained guarantee.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present utility model based on flexible shaft Artificial grip module.
Fig. 2 is the dimensional structure diagram of elastic finger of the present utility model and passive reset mechanism.
Fig. 3 is the main structure diagram that auxiliary motor of the present utility model drives flexible shaft rotational motion mechanism.
Fig. 4 is that main motor of the present utility model drives ball-screw to realize that the front view structure of two installation pedestal parallel motions is shown It is intended to.
Fig. 5 is the main structure diagram of the present utility model for realizing crawl article function.
Fig. 6 is revocation crawl function of the present utility model, the main structure diagram set back.
Fig. 7 is the dimensional structure diagram of the utility model flexible shaft.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical solution of the utility model is described in further detail.Figure In, elastic finger module 1, finger support rotation platform 2, back-moving spring 3, ball-screw nut 4, ball-screw 5, main motor connection The spacing slide rail 11 of axle device 6, main DC servo motor 7, auxiliary DC servo motor 8, auxiliary motor shaft coupling 9, flexible shaft 10, cylinder, Finger mounted pedestal 12 and motor mounting base 13.
Embodiment:
As shown in figure 1, integrated model, which is the utility model, is based on flexible shaft Artificial grip module diagram.
It is to constitute the various pieces of the Artificial grip and realize the outer of function as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 See design sketch.3 elastic finger modules 1 are in the arrangement of equilateral triangle, can be more convenient to rapidly adapt to held object Different profiles.Elastic finger module 1 is the part directly contacted with gripped object, therefore finger is the object finally controlled, Its design is most important.Elastic finger module 1 of the present utility model uses the recoverable elastomeric material of changeability, on the one hand may be used To prevent stopping loss wound by the surface of blessing article, on the other hand when cancelling elastic finger 1 function of module, it can be soon at the beginning of quick-recovery Beginning position, to perform its function again.Strength glue bond is used between elastic finger module 1 and finger support rotation platform 2, It is hollow inside elastic finger module 1 and finger support rotation platform 2, flexible shaft 10 can be from the small of finger mounted pedestal 12 Hole supports rotation platform 2 and fixed through elastic finger module 1 and its tip through finger;Finger supports the rotation of rotation platform 2 Rotating shaft is assembled by the vertical convex upper bearing aperture of 2 deep groove ball bearings and finger mounted pedestal 12, while each finger support Rotation platform 2 dorsad fixes 1 passive reset spring 3, back-moving spring 3 between convex and the export-oriented convex of finger mounted pedestal 12 Two ends are separately fixed on the convex of both sides by bearing pin;Finger mounted pedestal 12 is solid by screw-nut with ball-screw nut 4 It is scheduled on together, while with the vertical welding of the spacing slide rail of cylinder 11, the spacing slide rail 11 of 3 cylinders is arranged in equilateral triangle;Ball wire Thick stick 5 coordinates the translation for being converted to ball-screw nut 4 of main motor 7, the one end of ball-screw 5 with ball-screw nut 4 For free end, it can be moved back and forth through finger mounted pedestal 12, the other end passes through main motor shaft coupling 6 and main DC servo electricity The axle connection of machine 7;Main motor 7 is fixed by screws on motor mounting base 13, and motor mounting base 13 and 3 cylinders are spacing Circular hole is opened in the corresponding position of slide rail 11, and the spacing slide rail 11 of cylinder can be allowed freely to reciprocatingly slide;Auxiliary DC servo motor 8 passes through spiral shell Nail is fixed on motor mounting base 11, and motor shaft is fixedly connected by auxiliary motor shaft coupling 9 with flexible shaft 10.
It is specifically described how the Artificial grip realizes crawl and reverse the function of held object below.
As shown in figure 5, when the rotate counterclockwise of main motor 7, when auxiliary motor 8 does not rotate, ball-screw 5 will gradually screw out rolling Screw nut 4, the vertical range increase between finger mounted pedestal 12 and motor mounting base 13, auxiliary motor shaft coupling 9 is drawn Dynamic flexible shaft 10 is moved along the spacing slide rail 11 of cylinder.Because the original state of elastic finger module 1 is inside lateral bend, flexible shaft 10 apply pulling force at the tip of elastic finger module 1 so that the further inwardly lateral bend of elastic finger module 1.3 flexible shafts 10 are drawn The motion for moving 3 elastic finger modules 1 is synchronous, therefore Artificial grip can be allowed to produce the action of clamping, realizes crawl object Function.As shown in fig. 6, when main motor 7 turns clockwise, when auxiliary motor 8 does not rotate, ball-screw 5 will gradually screw in rolling Screw nut 4, the vertical range between finger mounted pedestal 12 and motor mounting base 13 reduces.Because flexible shaft 10 is along axle Pressure can not be produced to pulling force can only be produced, now the elastomeric material of elastic finger module 1 itself can allow it gradually to restore to the original state, together When, passive reset spring 3 gradually can revert to former length from elongated condition, that is, pull finger support rotation platform 2 to revert to initially State, therefore Artificial grip can be allowed to produce the action unclamped.
When the rotate counterclockwise of auxiliary motor 8, when main motor 7 does not rotate, the axle of auxiliary motor 8 is driven soft by auxiliary motor shaft coupling 9 Property the rotate counterclockwise of axle 10, flexible shaft 10 drives the sophisticated rotate counterclockwise of elastic finger module 1, because 3 auxiliary motors 8 are controlled respectively 3 elastic finger modules 1 are made, when the tip of 3 elastic finger modules 1 rotate counterclockwise respectively, combining can realize and imitate The clockwise torsion function of green hand's pawl;Similarly, when 3 auxiliary motors 8 turn clockwise, when main motor 7 does not rotate, it can realize bionical The torsion function of paw counterclockwise.
There is the crawl of above-mentioned Artificial grip and reverse functional analysis, when the rotate counterclockwise of main motor 7,3 auxiliary motors 8 are also inverse When hour hands rotate, Artificial grip crawl can be realized and the combination of two kinds of functions is reversed clockwise;When main motor 7 revolves counterclockwise Turn, when 3 auxiliary motors 8 turn clockwise, Artificial grip crawl can be realized and the combination of two kinds of functions is reversed counterclockwise.
In the present embodiment, flexible shaft 10 uses Bowden cable, is made up of 3 laminin silk, every layer of 7 high-tensile steel wires, tool There is left-handed and dextrorotation function.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute Category those skilled in the art can make various modifications or supplement or using similar to described specific embodiment Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.

Claims (5)

1. a kind of Artificial grip module based on flexible shaft, it is characterised in that including motor mounting base(13), be fixed on motor Installation pedestal(13)On drive mechanism, the screw pair that is coupled by coupling assembly and drive mechanism and be coupled with screw pair And the finger mounted pedestal that can be moved reciprocatingly with the motion of screw pair(12);Elastic finger module(1)Supported and revolved by finger Turn platform(2)It is arranged on finger mounted pedestal(12)On, finger support rotation platform(2)Pass through counterpart and finger mounted pedestal (12)The assembling of vertical convex and can be around vertical convex axial-rotation, finger support rotation platform(2)Side pass through reset Mechanism and finger mounted pedestal(12)It is fixed, bottom be coupled with auxiliary drive mechanism and can auxiliary drive mechanism reciprocal fortune Around vertical convex axial-rotation so as to drive elastic finger module under dynamic driving(1)The action opened and closed.
2. a kind of Artificial grip module based on flexible shaft according to claim 1, it is characterised in that drive mechanism includes Main DC servo motor(7), auxiliary drive mechanism include auxiliary DC servo motor(8)And flexible shaft(10);The main direct current Servomotor(7)Pass through main DC servo motor(7)It is coupled with screw pair, the screw pair includes ball-screw nut(4)With And ball-screw(5), ball-screw(5)With ball-screw nut(4)Routing motion, one end is free end, and one end passes through main electricity Machine shaft coupling(6)With main DC servo motor(7)Axle connection;Finger mounted pedestal(12)With ball-screw nut(4)Pass through Screw-nut is fixed together;Flexible shaft(10)Rotation platform is supported through finger(2)Through elastic finger module(1)With its point End is fixed.
3. a kind of Artificial grip module based on flexible shaft according to claim 1, it is characterised in that counterpart includes 2 Individual deep groove ball bearing, finger support rotation platform(2)Pass through 2 deep groove ball bearings and finger mounted pedestal(12)Vertical convex Assembling;Resetting-mechanism includes back-moving spring(3), back-moving spring(3)It is fixed on rotation platform(2)On horizontal convex and finger peace Fill pedestal(12)Horizontal convex between.
4. a kind of Artificial grip module based on flexible shaft according to claim 2, it is characterised in that also including at least one The individual spacing slide rail of cylinder(11), main DC servo motor(7)It is fixed by screws in motor mounting base(13)On;Motor is installed Pedestal(13)With the spacing slide rail of cylinder(11)Circular hole is opened in corresponding position, can allow the spacing slide rail of cylinder(11)Slidably;It is auxiliary DC servo motor(8)It is fixed by screws in motor mounting base(13)On, motor shaft passes through auxiliary motor shaft coupling(9)With it is soft Property axle(10)It is fixedly connected.
5. a kind of Artificial grip module based on flexible shaft according to claim 1, it is characterised in that elastic finger module (1)For three, finger support rotation platform is circumferentially uniformly arranged on(2)Upper and and finger support rotation platform(2)Bonding, elasticity Finger module(1)It is shaped as arc, elastic finger module(1)And rotation platform(2)It is inner hollow.
CN201720036390.7U 2017-01-12 2017-01-12 A kind of Artificial grip module based on flexible shaft Expired - Fee Related CN206484587U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108818523A (en) * 2018-06-25 2018-11-16 江苏大学 A kind of multi-arm soft robot
CN110539257A (en) * 2019-08-05 2019-12-06 中山大学 Multifunctional bionic clamp holder
CN111404079A (en) * 2020-04-07 2020-07-10 西安交通大学 Bionic flexible mechanical leg claw for taking off and landing of high-voltage transmission line flight inspection robot
CN112248018A (en) * 2020-10-13 2021-01-22 武汉轻工大学 Flexible paw and manipulator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108818523A (en) * 2018-06-25 2018-11-16 江苏大学 A kind of multi-arm soft robot
CN108818523B (en) * 2018-06-25 2021-09-10 江苏大学 Multi-arm soft robot
CN110539257A (en) * 2019-08-05 2019-12-06 中山大学 Multifunctional bionic clamp holder
CN110539257B (en) * 2019-08-05 2021-01-01 中山大学 Multifunctional bionic clamp holder
CN111404079A (en) * 2020-04-07 2020-07-10 西安交通大学 Bionic flexible mechanical leg claw for taking off and landing of high-voltage transmission line flight inspection robot
CN112248018A (en) * 2020-10-13 2021-01-22 武汉轻工大学 Flexible paw and manipulator

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Granted publication date: 20170912

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