CN206811990U - A kind of adaptive rope drive formula drive lacking three refers to manipulator - Google Patents
A kind of adaptive rope drive formula drive lacking three refers to manipulator Download PDFInfo
- Publication number
- CN206811990U CN206811990U CN201720588620.0U CN201720588620U CN206811990U CN 206811990 U CN206811990 U CN 206811990U CN 201720588620 U CN201720588620 U CN 201720588620U CN 206811990 U CN206811990 U CN 206811990U
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- finger
- fixed
- palm
- manipulator
- rotation
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Abstract
The utility model refers to manipulator for a kind of adaptive rope drive formula drive lacking three, including palm, finger component, mechanical wrist, the finger component rotates finger by 1 the first fixed finger of structure identical and 2 second and formed, the bottom of first fixed finger is fixed on the palm, and the second rotation finger is connected with the pinion rotation mechanism for being fixed on the palm center and the second rotation finger being made to horizontally rotate along palm axis.The utility model is stable and reliable for performance, compact-sized, practical, flexible, can efficiently be coordinated with industrial robot, improves industrial automaticity.
Description
Technical field
A kind of industrial robot is the utility model is related to, a kind of adaptive rope drive formula drive lacking three is particularly disclosed and refers to machinery
Hand.
Background technology
In industrial application, the end effector of robot uses clamp-type manipulator more, by two refer to opening and closing,
Realize the clamping and carrying of material.The finger of this manipulator needs the shape of the object clamped by be designed, general
Specific crawl task can be realized, it is impossible to adapt to the change of object profile.When performing different job tasks, it is necessary to set again
Paw is counted, versatility is poor, and can increase production cost.
The content of the invention
The purpose of this utility model is to overcome defect present in prior art, there is provided a kind of with very high general
Property, stability and reliability, can efficiently be coordinated with industrial robot, improve the adaptive of industrial automaticity
Drive formula of restricting drive lacking three refers to manipulator.
What the utility model was realized in：A kind of adaptive rope drive formula drive lacking three refers to manipulator, including palm, finger
Component, mechanical wrist, it is characterised in that：The finger component is rotated by 1 the first fixed finger of structure identical and 2 second
Finger is formed, and the bottom of first fixed finger is fixed on the palm, and the second rotation finger is described with being fixed on
Palm center simultaneously can make the pinion rotation mechanism that horizontally rotates along palm axis of the second rotation finger be connected；
First fixed finger, the second rotation finger include finger portion, refer to portion's bending controlled motor, pedestal, are linked as respectively
The inclined base and horizontal base of one, the top of the inclined base is relative to palm center is outward-dipping, the inclination bottom
Angle between seat and horizontal base is in obtuse angle；The finger portion is connected with the pedestal, and the pedestal passes through sliding equipment and institute
State inclined base to be connected, the sliding equipment can make axis direction of the pedestal along the inclined base slidably reciprocate；It is described
The horizontal base of second rotation finger is connected with the pinion rotation mechanism；The finger portion bending controlled motor is inclined described in being fixed on
On sloping bottom, the finger portion bending controlled motor is connected by chain rope with the finger portion.
The pinion rotation mechanism includes one and fixes conical gear, a fixing axle, quantity and the described second rotation finger number
Corresponding rotation drive component is measured, the rotation drive component includes rotating conical gear, connecting rod, gear coupling and tooth
Turbin generator；
The fixed conical gear is fixed in the fixing axle, and the lower end of the fixing axle is fixed on the upper of the palm
Portion center, the rotation conical gear are socketed in the connecting rod, and the rotation conical gear and the fixed circular cone tooth
Wheel is meshed, and one end of the connecting rod is connected with the fixing axle, and the other end of the connecting rod passes through the gear shaft coupling
Device is connected with the gear motor, and the gear motor is fixed on the described second horizontal base for rotating finger.
The sliding equipment includes rail plate, leading screw, leading screw shaft coupling, spindle motor, and the rail plate is fixed on
On the inclined base and with the pedestal slide be connected, one end of the leading screw is connected with the pedestal, the leading screw it is another
One end is connected by the leading screw shaft coupling with the spindle motor, and the spindle motor is fixed on the inclined base.
The finger portion include be sequentially connected nearly finger joint pulley spindle, nearly finger joint, middle finger joint pulley spindle, middle finger joint, remote finger joint
Pulley spindle, remote finger joint, the nearly finger joint pulley spindle are connected with the pedestal, and one end of the chain rope controls with finger portion bending
Motor is connected, the other end of the chain rope successively around after nearly finger joint pulley spindle, middle finger joint pulley spindle, remote finger joint pulley spindle with institute
Remote finger joint is stated to be connected.
The finger portion bending controlled motor is rope sheave motor, and the chain rope is steel wire rope.
Angle between the inclined base and horizontal base is 135 degree.
The top of the horizontal base is provided with fixed cover, and the fixed cover is fixed at the top of the pinion rotation mechanism
On, support member is provided between the fixed cover and the palm.
The mechanical wrist includes a support base, a center chain, three side chains, and the center chain includes being sequentially connected
The first rotation seat, the first cross frame, double end universal bar, the second cross frame, the second rotation seat and support bar, described first
The top of rotation seat is connected with the bottom of the palm, and the bottom of the support bar is connected with the support base；The side chain bag
The stock and quarter butt being hinged are included, the bottom of the stock is connected with the support base, the top of the quarter butt and the hand
The bottom of the palm is hinged.
4 groups of expansion controllers are provided with the support base, expansion controller described in every group is mainly by connection guide rail and guide rail
Controlled motor is formed, and the guide rail controlled motor is fixed in the support base, and the support bar, the bottom of stock are respectively with 1
The guide rail controlled motor of the group expansion controller is connected, and the lower side of the support bar, the lower side of stock are led to respectively
The connection guide rail is crossed with the support base to be connected.
Rotational freedom, 3 shiftings brought by sliding equipment with 9 finger portions itself on palm described in the utility model
The dynamic free degree and 2 rotational freedoms brought by pinion rotation mechanism；Wrist 6 with three side chains is rotatably mounted
Degree, 3 move up and down the free degree between stock and support base, and 1 between center chain support bar and support base moves up and down
2 rotational freedoms of the free degree, the first rotation seat and the second rotation seat and 2 s' of double end universal bar both ends is rotatably mounted
Degree；28 frees degree altogether.Finger component and side chain all use modularized design, cost-effective, convenient processing.The finger group
Part is bent the bending that controlled motor realizes by chain rope drive the portion of finger by finger portion, by sliding equipment promote the movement of pedestal come
Realize the deformation in the portion that refers to.Wrist can be realized by mobile on the connection guide rail in support base of center chain and three side chains
360 ° of rotations.
The beneficial effects of the utility model are：It is 1. stable and reliable for performance：The rotation that the utility model second rotates finger is adopted
With the gear drive of pinion rotation mechanism, gear drive has that stable drive, gearratio be accurate, efficiency high, long lifespan, uses
The advantages that power, big speed and size range；The utility model refers to the movement in portion using the ball screw assembly, of sliding equipment, ball
Lead screw pair high transmission accuracy, the straight line force of output are big.
It is 2. compact-sized：Two of pinion rotation mechanism rotate conical gear and a fixed conical gear coordinates, and make tooth
It is compacter to take turns drive mechanism；The motor and other parts needed built in the unique design energy of inclined base and horizontal base.
It is 3. practical：135 ° of corner designs of inclined base and horizontal base, can not only reach when pedestal rises along guide rail
The effect of finger is extended, and the area of palm can be expanded, and two second rotate finger and can freely be rotated on palm,
Such 2 points can make manipulator adapt to the variously-shaped and crawl of the object of size.
It is 4. flexible：Wrist can be realized by mobile on the connection guide rail in support base of center chain and three side chains
360 ° of rotations.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model side structure schematic diagram.
Fig. 3 Fig. 2 A-A is to cross section structure diagram.
Fig. 4 is the position relationship overlooking the structure diagram of finger component and palm.
Fig. 5 is the structural representation of mechanical wrist.
Wherein：1st, fixed cover；11st, support member；
2nd, palm；3rd, the first fixed finger；4th, second finger is rotated；
41st, portion is referred to；4101st, nearly finger joint pulley spindle；4102nd, nearly finger joint；4103rd, middle finger joint pulley spindle；4104th, middle finger joint；
4105th, remote finger joint pulley spindle；4106th, remote finger joint；
42nd, portion's bending controlled motor is referred to；43rd, pedestal；44th, inclined base；45th, horizontal base；46th, chain rope；
51st, rail plate；52nd, leading screw；53rd, leading screw shaft coupling；54th, spindle motor；
61st, fixed conical gear；62nd, fixing axle；63rd, conical gear is rotated；64th, connecting rod；65th, gear coupling；66、
Gear motor；
71st, support base；7101st, guide rail is connected；7102nd, guide rail controlled motor；
72nd, center chain；7201st, the first rotation seat；7202nd, the first cross frame；7203rd, double end universal bar；7204th,
Two cross frames；7205th, the second rotation seat；7206th, support bar；
73rd, side chain；7301st, stock；7302nd, quarter butt.
Embodiment
1 ~ Fig. 5 with reference to the accompanying drawings, the utility model include palm 2, fixed cover 1, finger component, mechanical wrist；The palm 2
In cylindrical type.
The finger component rotates fingers 4 by 1 the first fixed finger 3 of structure identical and 2 second and formed, and described the
The bottom of one fixed finger 3 is fixed on the palm 2, and the central upper portion of the palm 2 is provided with rotates finger 4 with described second
Connected pinion rotation mechanism, the pinion rotation mechanism can drive described second to rotate finger 22 along palm axis level turn
It is dynamic.
First fixed finger 3, second rotates finger 4 to be included finger portion 41, refers to portion's bending controlled motor 42, pedestal respectively
43rd, inclined base 44, horizontal base 45.The inclined base 44 is connected as a single entity with horizontal base 45, the inclined base 44
Top is outward-dipping relative to palm center, and the angle between the inclined base 44 and horizontal base 45 is 135 degree.The finger
Portion's bending controlled motor 42 is fixed on the inclined base 44, finger portion bending controlled motor 42 by chain rope 46 with it is described
Finger portion 41 is connected；The finger portion 41 includes nearly finger joint pulley spindle 4101, nearly finger joint 4102, the middle finger joint pulley spindle being sequentially connected
4103rd, middle finger joint 4104, remote finger joint pulley spindle 4105, remote finger joint 4106, the nearly finger joint 4102 pass through the nearly finger joint pulley
Axle 4101 is connected with the pedestal 43.One end of the chain rope 46 is connected with finger portion bending controlled motor 42, the chain rope
46 other end successively around after the nearly finger joint pulley spindle 4101, middle finger joint pulley spindle 4103, remote finger joint pulley spindle 4105 with
The remote finger joint 4106 is connected.The finger portion bending controlled motor 42 is rope sheave motor, and the chain rope 46 is steel wire rope.
The pedestal 43 is connected by sliding equipment with the inclined base 44, and the sliding equipment can make the pedestal 43
Slidably reciprocated along the axis direction of the inclined base 44.The sliding equipment includes rail plate 51, leading screw 52, leading screw shaft coupling
Device 53, spindle motor 54, the rail plate 51, which is fixed on the inclined base 44 and slided with the pedestal 43, to be connected, institute
The one end for stating leading screw 52 is connected with the pedestal 43, and the other end of the leading screw 52 passes through the leading screw shaft coupling 53 and the silk
Thick stick motor 54 is connected, and the spindle motor 54 is fixed on the inclined base 44.
The horizontal base 45 of the second rotation finger 4 is connected with the pinion rotation mechanism；The horizontal base 45
Top is provided with fixed cover 1, is fixed at the top of the pinion rotation mechanism in the fixed cover 1, the fixed cover 1 and the hand
Support member 11 is provided between the palm 2.
The pinion rotation mechanism includes fixed conical gear 61, fixing axle 62,2 rotates finger 4 with 2 described second
One-to-one to rotate drive component, the rotation drive component includes rotating conical gear 63, connecting rod 64, gear coupling
65 and gear motor 66.The fixed conical gear 61 is fixed in the fixing axle 62, and the lower end of the fixing axle 62 is fixed
In the central upper portion of the palm 2, the rotation conical gear 63 is socketed in the connecting rod 64, and the rotation circular cone tooth
Wheel 63 is meshed with the fixed conical gear 61, and one end of the connecting rod 64 is connected with the fixing axle 62, the connection
The other end of bar 64 is connected by the gear coupling 65 with the gear motor 66, and the gear motor 66 is fixed on described
Second rotates on the horizontal base 45 of finger 4.
The mechanical wrist includes a side chain 73 of center chain 72, three of support base 71, one, is set in the support base 71
There are 4 groups of expansion controllers, expansion controller described in every group is mainly by 1 connection guide rail 7101 and 1 guide rail controlled motor 7102
Composition, the guide rail controlled motor 7102 are fixed in the support base 71.The center chain 72 includes first be sequentially connected
Rotation seat 7201, the first cross frame 7202, double end universal bar 7203, the second cross frame 7204, the and of the second rotation seat 7205
Support bar 7206, the top of first rotation seat 7201 are connected with the bottom of the palm 2,；The side chain 73 includes mutual
Be hinged stock 7301 and quarter butt 7302, the top of the quarter butt 7302 and the bottom of the palm 2 are hinged.The support bar
7206 bottom, the bottom of stock 7301 are connected with the guide rail controlled motor 7102 of expansion controller described in 1 group respectively；Institute
State the lower side of support bar 7206, the lower side of stock 7301 connects guide rail 7101 and the support base by described respectively
71 are connected.
The utility model at work, when gear motor 66 starts, by gear coupling 65, passes through the band of connecting rod 64
Turn is moved conical gear 63 and rotated on fixed conical gear 61 around fixing axle 62.After the second rotation finger 4 rotate in place, refer to
Portion's bending controlled motor 42 starts to start, and chain rope 46 shrinks, and drives nearly finger joint pulley spindle 4101 to rotate, then drive middle finger joint pulley
Axle 4103 rotates, and makes finger portion 41 complete to bend to the purpose of crawl object.
And when capturing larger object, spindle motor 54 starts, and drives leading screw 52 to rotate by leading screw shaft coupling 53, promotes
Pedestal 43 moves along rail plate 51.
If need the mechanical wrist to turn an angle again, can start it is in support base 71, with one of them or it is several
The guide rail controlled motor 7102 of expansion controller corresponding to individual side chain 73, make corresponding to side chain 73 along connection guide rail 7101 to moving down
Dynamic, then mechanical wrist will be inclined to this side chain 73.The movement of side chain is controlled according to the needs of angle, while is started in good time with
The upper-lower position of the corresponding expansion controller regulation center chain of heart chain can play booster action.
The above course of work independently of each other, in no particular order, can be depending on actual conditions.
Claims (9)
1. a kind of adaptive rope drive formula drive lacking three refers to manipulator, including palm, finger component, mechanical wrist, it is characterised in that：
The finger component rotates finger by 1 the first fixed finger of structure identical and 2 second and formed, first fixed finger
Bottom be fixed on the palm, the second rotation finger and be fixed on the palm center and can make described second turn
The pinion rotation mechanism that finger horizontally rotates along palm axis of starting is connected；
First fixed finger, the second rotation finger include finger portion, refer to portion's bending controlled motor, pedestal, are connected as a single entity respectively
Inclined base and horizontal base, the top of the inclined base relative to palm center is outward-dipping, the inclined base with
Angle between horizontal base is in obtuse angle；The finger portion is connected with the pedestal, and the pedestal is inclined by sliding equipment with described
Sloping bottom is connected, and the sliding equipment can make axis direction of the pedestal along the inclined base slidably reciprocate；Described second
The horizontal base for rotating finger is connected with the pinion rotation mechanism；The finger portion bending controlled motor is fixed on the inclination bottom
On seat, the finger portion bending controlled motor is connected by chain rope with the finger portion.
2. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The gear turns
Motivation structure includes one and fixes the rotation driving corresponding with the described second rotation fingers number of conical gear, a fixing axle, quantity
Component, the rotation drive component include rotating conical gear, connecting rod, gear coupling and gear motor；
The fixed conical gear is fixed in the fixing axle, and the lower end of the fixing axle is fixed in the top of the palm
The heart, the rotation conical gear is socketed in the connecting rod, and the rotation conical gear and the fixed conical gear phase
Engagement, one end of the connecting rod is connected with the fixing axle, the other end of the connecting rod by the gear coupling and
The gear motor is connected, and the gear motor is fixed on the described second horizontal base for rotating finger.
3. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The skate machine
Structure include rail plate, leading screw, leading screw shaft coupling, spindle motor, the rail plate be fixed on the inclined base and with
The pedestal, which slides, to be connected, and one end of the leading screw is connected with the pedestal, and the other end of the leading screw is joined by the leading screw
Axle device is connected with the spindle motor, and the spindle motor is fixed on the inclined base.
4. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The finger portion bag
The nearly finger joint pulley spindle being sequentially connected, nearly finger joint, middle finger joint pulley spindle, middle finger joint, remote finger joint pulley spindle, remote finger joint are included, it is described
Nearly finger joint pulley spindle is connected with the pedestal, and one end of the chain rope is connected with finger portion bending controlled motor, the chain rope
The other end be connected successively around nearly finger joint pulley spindle, middle finger joint pulley spindle, after remote finger joint pulley spindle with the remote finger joint.
5. the adaptive rope according to claim 1 or 4, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The finger
Portion's bending controlled motor is rope sheave motor, and the chain rope is steel wire rope.
6. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The inclination bottom
Angle between seat and horizontal base is 135 degree.
7. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The horizontal base
Seat top be provided with fixed cover, be fixed at the top of the pinion rotation mechanism in the fixed cover, the fixed cover with it is described
Support member is provided between palm.
8. the adaptive rope according to claim 1, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The manipulator
Wrist include a support base, a center chain, three side chains, the center chain include be sequentially connected the first rotation seat, first
Cross frame, double end universal bar, the second cross frame, the second rotation seat and support bar, the top of first rotation seat and institute
The bottom for stating palm is connected, and the bottom of the support bar is connected with the support base；The side chain includes the stock being hinged
And quarter butt, the bottom of the stock are connected with the support base, the top of the quarter butt and the bottom of the palm are hinged.
9. the adaptive rope according to claim 8, which drives formula drive lacking three, refers to manipulator, it is characterised in that：The support base
4 groups of expansion controllers are inside provided with, expansion controller is mainly made up of connection guide rail and guide rail controlled motor described in every group, described to lead
Rail controlled motor is fixed in the support base, and the support bar, the bottom of stock are led with expansion controller described in 1 group respectively
Rail controlled motor is connected, the lower side of the support bar, the lower side of stock respectively by it is described connection guide rail with it is described
Support base is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588620.0U CN206811990U (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720588620.0U CN206811990U (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811990U true CN206811990U (en) | 2017-12-29 |
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ID=60757326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720588620.0U Expired - Fee Related CN206811990U (en) | 2017-05-25 | 2017-05-25 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206811990U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858256A (en) * | 2018-07-13 | 2018-11-23 | 睿尔曼智能科技（北京）有限公司 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
| CN115556129A (en) * | 2022-12-06 | 2023-01-03 | 浙江华朔科技股份有限公司 | Self-adaptive universal paw |
-
2017
- 2017-05-25 CN CN201720588620.0U patent/CN206811990U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858256A (en) * | 2018-07-13 | 2018-11-23 | 睿尔曼智能科技（北京）有限公司 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
| CN115556129A (en) * | 2022-12-06 | 2023-01-03 | 浙江华朔科技股份有限公司 | Self-adaptive universal paw |
| CN115556129B (en) * | 2022-12-06 | 2023-05-02 | 浙江华朔科技股份有限公司 | Self-adaptive universal paw |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20190525 |
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| CF01 | Termination of patent right due to non-payment of annual fee |