CN207172092U - A kind of robot pawl palm device of variable configuration - Google Patents
A kind of robot pawl palm device of variable configuration Download PDFInfo
- Publication number
- CN207172092U CN207172092U CN201720512495.5U CN201720512495U CN207172092U CN 207172092 U CN207172092 U CN 207172092U CN 201720512495 U CN201720512495 U CN 201720512495U CN 207172092 U CN207172092 U CN 207172092U
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- China
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- finger
- fixed seat
- robot
- rotating mass
- guide rod
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Abstract
The utility model discloses a kind of robot pawl palm device of variable configuration, and the robot pawl palm device is made up of an on-rotatably moving part 100 and two rotary parts 200 and 300, and the size adjusting of the pawl palm, and the crawl point position adjustment for complex object can be achieved.The method that pawl palm size adjusting is matched using drawstring with spring, when needing to capture object, the output shaft of finger actuation unit can rotate, and by drawstring on output shaft, so that drawstring pulls finger fixed seat to be moved linearly along guide rod, adjust hand sizes size.When Zhao Zhang mechanisms of variable configuration robot discharge object, the output shaft of finger actuation unit reversely rotates, and finger fixed seat can return to initial position under the action of the spring.Pawl palm position adjustment uses the form of gear engagement, by the rotary drive gear rotation on rotary part, drives and itself is revolved round the sun around fixed gear, so as to realize rotary part around axis rotation adjustment palm position.
Description
Technical field
The utility model belongs to robot application field, and in particular to a kind of robot pawl palm device of variable configuration.
Background technology
End effector of robot directly affects as robot and the execution unit of operation object interaction, its performance
The implementation effect and operating efficiency of operation task.Typical end effector of robot is robot gripper, both at home and abroad on
The research of robot gripper either all has made great progress in structure, type of drive or control technology etc., still
It is all changeless to be used to install finger actuation and the pawl palm of transmission mechanism on existing robot gripper, only by how free
The coordination of degree, multi-joint, multiple fingers is controlled to realize grasping body.In practical application, as this kind of object of fruits and vegetables, size and
The property differences such as shape are larger, and the fixed robot gripper of pawl palm cun can not realize crawl position and capture the adjustment in space,
Need often to change different types of handgrip to adapt to be grabbed the size and shape requirement of object.
The content of the invention
The utility model in view of the shortcomings of the prior art, proposes a kind of robot pawl palm device of variable configuration, can be achieved
The size adjusting of the pawl palm, and the crawl point position adjustment for complex object.
The robot pawl of the variable configuration slaps device by an on-rotatably moving part 100 and two Hes of rotary part 200
300 compositions.Wherein on-rotatably moving part 100 is symmetrical structure, and both ends are respectively equipped with finger fixed seat 103, and right rotatable member is set
There is a right side finger fixed seat 203, left side rotary part is provided with a left side finger fixed seat 303, and so forming to install
Four finger pawl palms.
Two finger fixed seats 103 slide on the guide rod 102 for being fixed on the both sides of base 107, and respectively by being fixedly mounted on
Two finger actuation units 106 of the top of base 107 are driven by corresponding drawstring 105, and two finger fixed seats 103 can be distinguished
Promoted by the elastic force of the spring 104 between both sides finger fixed seat 103 and base 107, return to initial position；Right side finger is fixed
Seat 203 slides on the right side guide rod 202 for being fixed on the right side side of rotating mass 207, and by being fixedly installed in right side rotating mass
The right side finger actuation unit 206 of 207 tops is driven by right side drawstring 205, and right side finger fixed seat 203 is by right side finger
The elastic force of right side spring 204 between fixed seat 203 and right side rotating mass 207 promotes and returns to initial position；Left side finger is consolidated
Reservation 303 slides on the left side guide rod 302 for being fixed on the left side side of rotating mass 307, and is led by being fixedly installed in left side rotation
The left side finger actuation unit 306 of the top of body 307 is driven by left side drawstring 305, and left side finger fixed seat 303 is by left side hand
The elastic force promotion for referring to the left side spring 304 between fixed seat 303 and left side rotating mass 307 returns to initial position.So can profit
The size adjusting of the robot pawl palm is realized with the program.
The center of the base 107 of on-rotatably moving part 100 is provided with central shaft, and fixed gear 108 is fixedly arranged on base 107, Gu
The central shaft of fixed gear 108 and base 107 is concentric；Right side is provided with the right side rotating mass 207 of right rotatable member 200 to rotate
Bearing 210, the top of right side rotating mass 207 are installed with right side rotary drive unit 211, right side rotary drive unit 211
Output shaft is installed with right side rotary drive gear 208；Left side spin is provided with the left side rotating mass 307 of left side rotary part 300
Rotating shaft holds 310, and the top of left side rotating mass 307 is installed with left side rotary drive unit 311, left side rotary drive unit 311
Output shaft be installed with left side rotary drive gear 308；Right rotatable member 200 is first arranged on the base of on-rotatably moving part 100
On 107 central shaft, the central shaft of the bearing inner race and base 107 of the right side swivel bearing 210 on right rotatable member 200 connects
Touch, right side rotary drive gear 208 engages with fixed gear 108；Left side rotary part 300 is arranged on on-rotatably moving part again
On the central shaft of 100 base 107, left side rotary part 300 is located at the top of right rotatable member 200, left side swivel bearing 310
Bearing inner race contacted with the central shaft of base 107, left side rotary drive gear 308 engages with fixed gear 108.So can profit
The adjustment of robot pawl palm position is realized with the program.
The advantages of robot pawl palm device of the variable configuration, is：
1. the robot pawl palm is variable configuration, the size adjusting of the pawl palm, and the crawl point for complex object can be achieved
Position adjustment.
2. the method that pawl palm size adjusting is matched using drawstring with spring, when needing to capture object, finger actuation unit
Output shaft can rotate, by drawstring on output shaft so that drawstring pull finger fixed seat moved linearly along guide rod, adjust
Whole hand sizes size.When the robot pawl palm device release object of variable configuration, the output shaft of finger actuation unit is reverse
Rotation, finger fixed seat can return to initial position under the action of the spring.
3. pawl palm position adjustment uses the form of gear engagement, pass through the rotary drive gear rotation on rotary part, band
Move itself to revolve round the sun around fixed gear, so as to realize rotary part around axis rotation adjustment palm position.
Brief description of the drawings
Fig. 1 is that the robot pawl of the variable configuration slaps device axonometric drawing.
Fig. 2 is that the robot pawl of the variable configuration slaps device on-rotatably moving part top view.
Fig. 3 is that the robot pawl of the variable configuration slaps device right rotatable member axonometric drawing.
Fig. 4 is that the robot pawl of the variable configuration slaps rotary part axonometric drawing on the left of device.
Wherein：1 mechanism supports bar, 2 robot end's pinboards, 3 bearing inner race tablettings, 4 bearing inner race fastening screws,
101 end plates, 102 guide rods, 103 finger fixed seats, 104 springs, 105 drawstrings, 106 finger actuation units, 107 bases, 108 fix
Gear, 201 right side end plates, 202 right side guide rods, 203 right side finger fixed seats, 204 right side springs, 205 right side drawstrings, 206 is right
Side finger actuation unit, 207 right side rotating mass, 208 right side rotary drive gears, 209 right side swivel bearing end caps, 210 is right
Side swivel bearing, 211 right side rotary drive units, 301 left side end plates, 302 left side guide rods, 303 left side finger fixed seats, 304
Left side spring, 305 left side drawstrings, 306 left side finger actuation units, 307 left side rotating mass, 308 left side rotary drive gears,
309 left side rotary shaft socket end lids, 310 left side swivel bearings, 311 left side rotary drive units.
Embodiment
A kind of robot pawl of variable configuration slaps device by on-rotatably moving part 100, right rotatable member 200 and a left side
Sidespin rotation member 300 forms, and forms the four pawl palms for referring to installation.When capturing object, the size adjusting of the pawl palm can be achieved and for multiple
The crawl point position adjustment of debris body.
The pawl palm of the variable configuration, its on-rotatably moving part 100 is symmetrical structure, solid by end plate 101, guide rod 102, finger
Reservation 103, spring 104, drawstring 105, finger actuation unit 106, base 107 and fixed gear 108 etc. form.With non-rotating
Exemplified by the side of part 100, two size identical guide rods 102 are bolted in the same side of base 107, finger fixed seat respectively
103 slide on guide rod 102；Finger actuation unit 106 is secured by bolts in the top of base 107；Base 107 is located at finger actuation
The lower section of unit 106 is provided with groove, and the output shaft of finger actuation unit 106 is hidden in groove；Driven with finger one end of drawstring 105
The output axis connection of moving cell 106, the other end are connected with finger fixed seat 103.In this way, finger actuation unit 106 passes through drawstring
105 driving finger fixed seats 103 move along a straight line along double guide rods 102.Fixed gear 108 is secured by bolts in base 107, Gu
The axle center of fixed gear 108 and the axis coinciding of the central shaft of base 107.
Further, for ensure finger fixed seat 103 it is reciprocating along double guide rods 102, finger fixed seat 103 with
Spring 104 is set up between base 107；To prevent the elastic force of spring 104 from finger fixed seat 103 is released into guide rod 102, in guide rod 102
End is bolted end plate 101.
Further, to reduce the frictional force between finger fixed seat 103 and guide rod 102, inside finger fixed seat 103
Fixed oil-free bushing, oil-free bushing slide on guide rod 102.
Right rotatable member 200 is by right side end plate 201, right side guide rod 202, right side finger fixed seat 203, right side spring
204th, right side drawstring 205, right side finger actuation unit 206, right side rotating mass 207, right side rotary drive gear 208, right side
Swivel bearing end cap 209, right side swivel bearing 210 and right side rotary drive unit 211 form.Wherein, right side swivel bearing 210
It is installed in the circular cavity of rotating mass 207 of right side, and by right side swivel bearing end cap 209 through being bolted right side rotary shaft
Hold 210 outer ring；Right side rotary drive unit 211 is fixedly arranged on the top of right side rotating mass 207 by bolt, and its output shaft end is worn
The hole crossed in the rotating mass 207 of right side, and be connected with right side rotary drive gear 208；In addition, led on the right side of two size identicals
Bar 202 is bolted in one end of right side rotating mass 207 respectively；Fixed oil-free bushing in right side finger fixed seat 203, oil-free bushing
Slide on right side guide rod 202；Right side finger actuation unit 206 is secured by bolts in the top of right side rotating mass 207；Revolve on right side
Turn the end of main body 207 and be provided with groove, the output shaft of right side finger actuation unit 206 is hidden in groove；The one of right side drawstring 205
End and the output axis connection of right side finger actuation unit 206, the other end are connected with right side finger fixed seat 203；Right side rotation master
Right side spring 204 is set up between body 207 and right side finger fixed seat 203；Right side end plate 201 is fixed on double right sides by bolt
The end of guide rod 202.
The design of left side rotary part 300 is consistent with right rotatable member 200 with installation method.Left side rotary part 300
By left side end plate 301, left side guide rod 302, left side finger fixed seat 303, left side spring 304, left side drawstring 305, left side finger
Driver element 306, left side rotating mass 307, left side rotary drive gear 308, left side rotary shaft socket end lid 309, left side rotation
Bearing 310 and left side rotary drive unit 311 form.Wherein, left side swivel bearing 310 is installed on left side rotating mass 307 and justified
Shape intracavitary, and pass through outer ring of the left side rotary shaft socket end lid 309 through bolt fixation left side swivel bearing 310；Left side rotation driving
Unit 311 is fixedly arranged on the top of left side rotating mass 307 by bolt, and its output shaft end passes through the hole in left side rotating mass 307,
It is connected with left side rotary drive gear 308；Guide rod 302 is bolted in left side rotating mass 307 respectively on the left of two size identicals
One end；Fixed oil-free bushing in left side finger fixed seat 303, oil-free bushing slide on left side guide rod 302；Left side finger actuation
Unit 306 is secured by bolts in the top of left side rotating mass 307；The end of left side rotating mass 307 is provided with groove, left side hand
The output shaft for referring to driver element 306 is hidden in groove；One end of left side drawstring 305 and the output of left side finger actuation unit 306
Axis connection, the other end are connected with left side finger fixed seat 303；Between left side rotating mass 307 and left side finger fixed seat 303
Set up left side spring 304；Left side end plate 301 is fixed on double left side ends of guide rod 302 by bolt.
On-rotatably moving part 100, right rotatable member 200 and the left side rotation of the robot pawl palm device of the variable configuration
After the completion of part 300 assembles respectively, right rotatable member 200 is first pressed to the inner ring and base 107 of right side swivel bearing 210
Central shaft coordinates, and right side rotary drive gear 208 is engaged with fixed gear 108；Overcoat is kept off on the central shaft of base 107 again
Piece；Then left side rotary part 300 is coordinated by the inner ring of left side swivel bearing 310 and the central shaft of base 107, makes left side
Rotary drive gear 308 engages with fixed gear 108；Finally bearing inner race tabletting 3 is fixed with bearing inner race fastening screw 4
In the center shaft end of base 107, the inner ring movement of limitation left side swivel bearing 310.
After the robot pawl palm device of the variable configuration assembles, the base 107 of on-rotatably moving part 100 passes through four machines
Structure support bar 1 is connected with robot end's pinboard 2, and robot end's pinboard 2 may be mounted to robot end.
Preferably, the finger actuation unit 106 in the robot pawl palm device of the variable configuration, right side finger actuation list
Member 206, left side finger actuation unit 306, and right side rotary drive unit 211 and left side rotary drive unit 311 use
Micro motor matches somebody with somebody decelerator and coder form, and uses MCU driving.
Finger fixed seat 103,203 and 303 on the robot pawl palm device of the variable configuration is used for the machinery installed
People's handgrip finger.
When robot gripper carries out grasping body, robot drives handgrip to reach specified location, right side rotation driving list
Member 211 and left side rotary drive unit 311 drive right side rotary drive gear 208 and left side rotary drive gear 308 certainly respectively
Turn, right side rotary drive gear 208 and left side rotary drive gear 308 engage with fixed gear 108, so as to which rotation drives the right side
Side rotary drive gear 208 and left side rotary drive gear 308 revolve round the sun around axle center, so as to realize variable configuration robot pawl palm root
According to the position of the Adjusting Shape crawl point of object；Then finger actuation unit 106, right side finger actuation unit 206, left side finger
Driver element 306 rotates, and pulls finger fixed seat 103,203 and 303 by drawstring 105,205 and 305 respectively, realization can allosteric
The humanoid robot pawl palm slaps size according to the size adjusting pawl of object.
Above description is to explanation of the present utility model, is not to restriction of the present utility model, the machine of the variable configuration
Device people pawl palm device can also carry out straight-line guidance by the guide rail similar to guide rod, realize that pawl slaps size adjusting；Or pass through it
The adjustment of pawl palm crawl point position is realized in the gear engagement of his form.Those skilled in the art are not departing from base of the present utility model
Other are directly exported or associated on the premise of this design to improve or change, and are considered as being included in protection model of the present utility model
Within enclosing.
Claims (7)
- A kind of 1. robot pawl palm device of variable configuration, it is characterised in that：The robot pawl of variable configuration slaps device by non-rotation Rotation member (100), right rotatable member (200) and left side rotary part (300) composition；Wherein, on-rotatably moving part (100) is pair Claim structure, both ends are respectively equipped with finger fixed seat (103)；Right rotatable member (200) is matched somebody with somebody by right side swivel bearing (210) Close, rotate on the central shaft of on-rotatably moving part (100), right rotatable member (200) is provided with a right side finger fixed seat (203)；Left side rotary part (300) is coordinated by left side swivel bearing (310), rotates on the center of on-rotatably moving part (100) Axle, left side rotary part (300) are provided with a left side finger fixed seat (303)；The robot pawl palm of the variable configuration is formed Four finger pawl palms can be installed.
- 2. the robot pawl palm device of variable configuration according to claim 1, it is characterized in that：On-rotatably moving part (100) is Symmetrical structure, by end plate (101), guide rod (102), finger fixed seat (103), spring (104), drawstring (105), finger actuation list First (106), base (107) and fixed gear (108) composition；By taking the side of on-rotatably moving part (100) as an example, two sizes are identical Guide rod (102) be respectively fixedly connected in the same side of base (107)；Fixed oil-free bushing in finger fixed seat (103), oil-free bushing Slide on guide rod (102)；End plate (101) is fixed on double guide rod (102) ends by bolt；Finger actuation unit (106) passes through Bolt is fixed on above base (107)；The lower section that base (107) is located at finger actuation unit (106) is provided with groove, finger actuation The output shaft of unit (106) is hidden in groove；One end of drawstring (105) and the output axis connection of finger actuation unit (106), separately One end is connected with finger fixed seat (103)；Spring (104) is set up between base (107) and finger fixed seat (103)；Fixing tooth Wheel (108) is secured by bolts in base (107), the axle center of fixed gear (108) and the axle center weight of base (107) central shaft Close.
- 3. the robot pawl palm device of variable configuration according to claim 1, it is characterized in that：Right rotatable member (200) By right side end plate (201), right side guide rod (202), right side finger fixed seat (203), right side spring (204), right side drawstring (205), right side finger actuation unit (206), right side rotating mass (207), right side rotary drive gear (208), right side rotation Bearing (ball) cover (209), right side swivel bearing (210) and right side rotary drive unit (211) composition；Wherein, right side swivel bearing (210) it is installed in rotating mass (207) circular cavity of right side, and by right side swivel bearing end cap (209) through being bolted The outer ring of right side swivel bearing (210)；Right side rotary drive unit (211) is fixedly arranged on right side rotating mass (207) by bolt Top, its output shaft end are connected through the hole in right side rotating mass (207), and with right side rotary drive gear (208)；This Outside, guide rod (202) is respectively fixedly connected in one end of right side rotating mass (207) on the right side of two size identicals；Right side finger is fixed Fixed oil-free bushing in seat (203), oil-free bushing slide on right side guide rod (202)；Right side finger actuation unit (206) passes through spiral shell Bolt is fixed on above right side rotating mass (207)；Right side rotating mass (207) end is provided with groove, right side finger actuation unit (206) output shaft is hidden in groove；One end of right side drawstring (205) connects with the output shaft of right side finger actuation unit (206) Connect, the other end is connected with right side finger fixed seat (203)；Between right side rotating mass (207) and right side finger fixed seat (203) Set up right side spring (204)；Right side end plate (201) is fixed on double right side guide rod (202) ends by bolt.
- 4. the robot pawl palm device of variable configuration according to claim 1, it is characterized in that：Left side rotary part (300) Design and installation method it is consistent with right rotatable member (200)；Left side rotary part (300) is by left side end plate (301), left side Guide rod (302), left side finger fixed seat (303), left side spring (304), left side drawstring (305), left side finger actuation unit (306), left side rotating mass (307), left side rotary drive gear (308), left side rotary shaft socket end lid (309), left side rotation Bearing (310) and left side rotary drive unit (311) composition；Wherein, left side swivel bearing (310) is installed on left side rotating mass (307) in circular cavity, and outer ring of the left side rotary shaft socket end lid (309) through bolt fixation left side swivel bearing (310) is passed through；It is left Side rotary drive unit (311) is fixedly arranged on above left side rotating mass (307) by bolt, and its output shaft end rotates through left side Hole in main body (307), it is connected with left side rotary drive gear (308)；Guide rod (302) is solid respectively on the left of two size identicals It is connected in one end of left side rotating mass (307)；Fixed oil-free bushing in left side finger fixed seat (303), oil-free bushing slide on Left side guide rod (302)；Left side finger actuation unit (306) is secured by bolts in above left side rotating mass (307)；Left side spin Turn main body (307) end and be provided with groove, the output shaft of left side finger actuation unit (306) is hidden in groove；Left side drawstring (305) One end and left side finger actuation unit (306) output axis connection, the other end is connected with left side finger fixed seat (303)；It is left Left side spring (304) is set up between side rotating mass (307) and left side finger fixed seat (303)；Left side end plate (301) passes through spiral shell Bolt is fixed on double left side guide rod (302) ends.
- 5. the robot pawl palm device of variable configuration according to claim 1, it is characterized in that：Finger actuation unit (106), Right side finger actuation unit (206), left side finger actuation unit (306), and right side rotary drive unit (211) and left side spin Turn driver element (311) and decelerator and coder form are matched somebody with somebody using micro motor, and use MCU driving.
- 6. the robot pawl palm device of variable configuration according to claim 1, it is characterized in that：Finger fixed seat (103,203 , 303) be used for install robot handgrip finger.
- 7. the robot pawl palm device of variable configuration according to claim 2, it is characterized in that：Base (107) passes through four Mechanism supports bar (1) is connected with robot end's pinboard (2), and robot end's pinboard (2) may be mounted to robot end End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720512495.5U CN207172092U (en) | 2017-05-10 | 2017-05-10 | A kind of robot pawl palm device of variable configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720512495.5U CN207172092U (en) | 2017-05-10 | 2017-05-10 | A kind of robot pawl palm device of variable configuration |
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| Publication Number | Publication Date |
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| CN207172092U true CN207172092U (en) | 2018-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720512495.5U Expired - Fee Related CN207172092U (en) | 2017-05-10 | 2017-05-10 | A kind of robot pawl palm device of variable configuration |
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| Country | Link |
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| CN (1) | CN207172092U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
-
2017
- 2017-05-10 CN CN201720512495.5U patent/CN207172092U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 |
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| CF01 | Termination of patent right due to non-payment of annual fee |