CN208468414U - A kind of small-sized form adaptive drive lacking two refers to that hand grabs device - Google Patents
A kind of small-sized form adaptive drive lacking two refers to that hand grabs device Download PDFInfo
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- CN208468414U CN208468414U CN201821118657.8U CN201821118657U CN208468414U CN 208468414 U CN208468414 U CN 208468414U CN 201821118657 U CN201821118657 U CN 201821118657U CN 208468414 U CN208468414 U CN 208468414U
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Abstract
The utility model provides a kind of small-sized form adaptive drive lacking two and refers to that hand grabs device, belongs to manipulation type robot field.The present apparatus includes that hand grabs driving mechanism, the first finger, second finger and force detection system.It includes that hand grabs pedestal, driving motor, driving plate, air plug, connector, movement shaft, palm pedestal, first bevel gear, second bevel gear and third hand tap gear that hand, which grabs driving mechanism,；First bevel gear is connect by moving shaft with driving motor, and is engaged respectively with second bevel gear and third hand tap gear；Second bevel gear and third hand tap gear are separately connected the first finger, second finger；Force detection system is mounted on end, middle part and the root of finger and the upper surface of palm pedestal.The utility model refers to structures using two, grabs driving mechanism by unique hand and drives to two fingers, and hand grabs that driving mechanism structure is simple, and each finger is underactuatuated drive, can grab the object of irregular shape securely.
Description
Technical field
The utility model belongs to manipulation type robot field, is related to a kind of small-sized form adaptive drive lacking two and refers to that hand is grabbed
Device.
Background technique
Hand grabs device as a kind of executing agency, is the important component of the operation humanoid robot such as mechanical arm.Most
Under ring of numbers border, hand, which grabs device and can replace the mankind, carries out cumbersome, dangerous operation.With the popularity and operating condition of application
Complexity, the requirement that opponent grabs device is also higher and higher, often to approach the function of human hand as appraisal standards.Flexibly
Hand, which grabs device often, has more fingers, multivariant structure feature, in order to realize high-accuracy crawl, generally require each joint by
Individual motor driving, so that control system is complicated, cost is excessively high, and maintenance is complicated.
Publication No. is that the Chinese patent application of CN104908056A disclosed a kind of variable configuration on September 16th, 2015
Three refer to mechanical paw, including palm, rotating base, centered cylinder, three rotary shafts, three turntables, three finger bottom end electricity
Machine etc. is uniformly arranged three fingers on rotating base.Uniformly distributed three rotary shafts, each rotary shaft are fixedly mounted on rotating base
One turntable, is equipped with a large straight gear on each turntable, the output shaft of finger bottom end motor by worm screw, turbine,
Small Spur gear and a large straight gear are intermeshed.
The Chinese patent application of Publication No. CN100999077A discloses a kind of multipurpose shape on July 18th, 2007
Adaptive robot hand and working method.Gripper includes frame and three finger mechanisms being mechanically coupled therewith, three drivings
Branch transmission mechanism and finger position adjustment mechanism adjust the position of finger mechanism by finger position adjustment mechanism, by outer
The three driving branch transmission mechanisms driving finger mechanism set is for different seized conditions.
Each finger in above-mentioned gripper is driven by individual motor, and control system is complicated.And due to certain specific
The size that occasion opponent grabs device has certain requirement, the size and limited performance of driving motor.When crawl body form and
When size changes, the control strategy that hand grabs device also will accordingly change.That therefore, it is necessary to a kind of entirety is more light and small,
It controls simpler hand and grabs device.
Utility model content
The utility model is directed to existing hand and grabs device by individual motor driving dimensions and limited performance, control system complexity
The problems such as, it proposes a kind of small-sized form adaptive drive lacking two and refers to that hand grabs device, be that a kind of analog mankind two refer to crawl
The device of object can grab the object of irregular shape using an independent high-accuracy motor driven and crawl force feedback system
Body can be used as the end effector mechanism of mechanical arm.
A kind of small-sized form adaptive drive lacking two of the utility model refers to that hand grabs device, including hand grab driving mechanism,
First finger, second finger and force detection system；
It includes that hand grabs pedestal, driving motor, driving plate, air plug, connector, movement shaft, hand that the hand, which grabs driving mechanism,
Slap pedestal, first bevel gear, second bevel gear and third hand tap gear；The driving motor is mounted on hand and grabs on pedestal, the drive
Movable plate is fixed on hand and grabs on pedestal, and air plug connects driving plate by buttock line；Palm pedestal is connected in hand and grabs pedestal upper surface, and first
Bevel gear, second bevel gear and third hand tap gear are mounted in palm pedestal；First bevel gear is connect with movement shaft, and respectively
It is engaged with second bevel gear and third hand tap gear；Second bevel gear is assemblied in the left side of palm pedestal, the finger with the first finger
Pedestal connection；Third hand tap gear is assemblied in the right side of palm pedestal, connect with the finger base of second finger；Movement shaft passes through
Connector is connect with driving motor；The hand grabs base bottom and is provided with installation interface；
The force detection system is made of patch type force snesor with anti-skid protection pad, be mounted on the end of finger, middle part with
Root and the upper surface of palm pedestal.
The utility model compared with prior art, has following clear superiority:
(1) the utility model is grabbed using a driving motor opponent and is driven, and is transmitted movement by two pairs of bevel gears
To the finger of two sides, and every finger is drive lacking, can adaptively grab the object of irregular shape；
(2) the utility model can get biggish transmission ratio using worm and gear as reduction gearing mechanism, and due to
The small size of Worm and worm-wheel gearing and further reduced the size that hand is grabbed；
(3) hand grips in and can be provided with force sensor system with the place that object contacts is crawled in the utility model, and one
Aspect plays the role of anti-skidding, and the grasp force of device on the other hand can be grabbed with precise measurement hand；
(4) the utility model has easy installation interface, can be used as the execution machine of the operation humanoid robot such as mechanical arm
Structure.
Detailed description of the invention
Fig. 1 is that the small-sized form adaptive drive lacking two of the utility model refers to that hand grabs apparatus structure schematic diagram；
Fig. 2 is that the hand in the utility model Fig. 1 grabs driving mechanism schematic diagram；
Fig. 3 is the first finger structural scheme of mechanism in the utility model Fig. 1.
In figure:
1, hand grabs driving mechanism；101, driving motor；102, hand grabs pedestal；103, left cover；104, driving plate；
105, right cover plate；106, air plug；107, connector；108, shaft is moved；109, palm pedestal；
110, first bevel gear；111, second bevel gear；112, third hand tap gear；113, front shroud；114, back shroud；
115, lamina tecti；2, the first finger；201, finger base；202, bearing；203, worm screw；204, worm gear；
205, first rotating shaft；206, nearly finger joint drive rod；207, nearly finger joint drives coupling bar；208, middle finger joint drive rod；
209, the second shaft；210, middle finger joint coupling bar；211, third shaft；212, middle finger joint；213, finger tip；
214, remote finger joint back bar；215, middle finger joint back bar；216, nearly finger joint returns to coupling bar；217, nearly finger joint returns
Bar；
218, torsional spring；219, nearly finger joint；3, second finger；4, force detection system.
Specific embodiment
The utility model is understood and implemented for the ease of those of ordinary skill in the art, and 1-3 is to this reality with reference to the accompanying drawing
It is described in further detail with the structure that a kind of novel small-sized finger of form adaptive drive lacking two hand grabs device.
A kind of small-sized form adaptive drive lacking two of the utility model refers to that hand grabs device, as shown in Figure 1, grabbing including hand
Driving mechanism 1, the first finger 2, second finger 3 and force detection system 4.
The hand grabs high-precision motor built in driving mechanism 1 and encoder (i.e. driving plate 104), grabs for hand and provides power,
And bottom has simple easy-to-dismount installation interface, and first finger 2 and second finger 3 are arranged symmetrically, are mounted on
Hand grabs the two sides of driving mechanism 1, and each finger has an active freedom degree and two passive freedom degrees, and the analog mankind two refer to
Object is grabbed, the force detection system 4 is made of patch type force snesor with anti-skid protection pad, is mounted on end, the middle part of finger
With the upper surface of root and palm pedestal 109, the grasp force of device can be grabbed with precise measurement hand.
Further, as shown in Fig. 2, the hand, which grabs driving mechanism 1, grabs pedestal 102, drive including driving motor 101, hand
Movable plate 104, air plug 106, connector 107, movement shaft 108, palm pedestal 109, first bevel gear 110, second bevel gear 111
With third hand tap gear 112.It further includes left cover 103, right cover plate 105, front shroud 113, back shroud that the hand, which grabs driving mechanism,
114 and lamina tecti 115.
The driving motor 101 is mounted on hand and grabs on pedestal 102, and the driving plate 104 is fixed on hand and grabs on pedestal 102,
The left cover 103 and right cover plate 105 are mounted on hand and grab on 102 left and right sides of pedestal, and protection hand grabs the driving inside pedestal 102
Plate 104.The air plug 106 is connected driving plate 104 by buttock line.Palm pedestal 109 is connected in the upper table that hand grabs pedestal 102
Face, first bevel gear 110, second bevel gear 111 and third hand tap gear 112 are mounted in palm pedestal 109.First bevel gear
110 connect with movement shaft 108, and engage respectively with second bevel gear 111, third hand tap gear 112.Second bevel gear 111 fills
The left side for fitting over palm pedestal 109 is connect with the finger base 201 of the first finger 2, and third hand tap gear 112 is assemblied in palm base
The right side of seat 109, connect with the finger base 201 of second finger 3.The movement shaft 108 passes through connector 107 and driving electricity
Machine 101 is connected, and the rotation of driving motor 101 is transmitted to first bevel gear 110.The second bevel gear 111 and triconodont
Wheel 112 transmits motion to the first finger 2 and second finger 3 by the engagement between first bevel gear 110.It is described
Hand grabs 102 bottom of pedestal and is provided with installation interface.The palm pedestal 109 is grabbed pedestal 102 with hand by screw and is fixedly connected, institute
It states front shroud 113, back shroud 114 and lamina tecti 115 to be fixed on palm pedestal 109, seal.
Further, as shown in figure 3, first finger 2 is fixed on palm pedestal 109, the first finger 2 includes hand
Refer to pedestal 201, bearing 202, worm screw 203, worm gear 204, first rotating shaft 205, nearly finger joint drive rod 206, the driving coupling of nearly finger joint
Bar 207, middle finger joint drive rod 208, the second shaft 209, middle finger joint coupling bar 210, third shaft 211, middle finger joint 212, finger tip
213, remote finger joint back bar 214, middle finger joint back bar 215, nearly finger joint return to coupling bar 216, nearly finger joint back bar 217, torsional spring
218 and nearly finger joint 219.The second bevel gear 111 and worm screw 203 are connect by bearing 202 with finger base 201, worm gear 204
Worm and worm-wheel gearing is formed with worm screw 203.The nearly finger joint drive rod 206 is fixed on worm gear 204 by three screws,
And revolute pair is formed by first rotating shaft 205 and nearly finger joint 219.Described nearly finger joint driving 207 one end of coupling bar by pin shaft with
Nearly finger joint drive rod 206 connects, and the other end will be connect by pin shaft with middle finger joint drive rod 208.The middle finger joint drive rod 208
Revolute pair is formed by the second shaft 209 and nearly finger joint 219, middle finger joint 212.One end of the middle finger joint coupling bar 210 is in
Finger joint drive rod 208 connects, and the other end is connect with third shaft 211.The finger tip 213 passes through third shaft 211 and middle finger joint
Revolute pair is formed between 212.The remote finger joint back bar 214 connects third shaft 211 and middle finger joint coupling bar 210.In described
Three revolute pairs of finger joint back bar 215 are to return to coupling bar with the second shaft 209, middle finger joint coupling bar 210, nearly finger joint respectively
216 connections are formed.Revolute pair is formed between the nearly finger joint back bar 217 and first rotating shaft 205, and is coupled with the return of nearly finger joint
Bar 216 connects, and the both ends of the torsional spring 218 are separately fixed on nearly finger joint 219 and middle finger joint 212.
The second finger 3 is identical as the structure of the first finger 2, is arranged symmetrically with the first finger 2 and is fixed on palm pedestal
On 109.It is drive lacking structure that the hand of the utility model, which grabs device, and finger has multiple freedom degrees, but only one power inputs.
Further, the force detection system 4 is made of patch type force snesor with anti-skid protection pad, be attached to finger tip 213,
On middle finger joint 212, nearly finger joint 219 and lamina tecti 115.
Force detection system 4 in the utility model is connected by way of internal cabling with driving plate 104, and gripper is uploaded
To driving plate 104, solidifying in driving plate 104 has adaptive control algolithm strategy for the force feedback that sensor detects, is grabbed according to hand
Force feedback form closed-loop control, when body form and size change, by the control algolithm of driving plate 104, can from
Dynamic adjustment crawl strategy realizes self adaptive control in conjunction with the finger structure of drive lacking.
Claims (2)
1. a kind of small-sized form adaptive drive lacking two refers to that hand grabs device, which is characterized in that grab driving mechanism, first including hand
Finger, second finger and force detection system；
It includes that hand grabs pedestal, driving motor, driving plate, air plug, connector, movement shaft, palm base that the hand, which grabs driving mechanism,
Seat, first bevel gear, second bevel gear and third hand tap gear；The driving motor is mounted on hand and grabs on pedestal, the driving plate
It is fixed on hand to grab on pedestal, air plug connects driving plate by buttock line；Palm pedestal is connected in hand and grabs pedestal upper surface, the first cone tooth
Wheel, second bevel gear and third hand tap gear are mounted in palm pedestal；First bevel gear is connect with movement shaft, and respectively with the
Two bevel gears and third hand tap gear engagement；Second bevel gear is assemblied in the left side of palm pedestal, the finger base with the first finger
Connection；Third hand tap gear is assemblied in the right side of palm pedestal, connect with the finger base of second finger；Movement shaft passes through connection
Part is connect with driving motor；The hand grabs base bottom and is provided with installation interface；
The force detection system is made of patch type force snesor with anti-skid protection pad, is mounted on the end, middle part and root of finger
And the upper surface of palm pedestal.
2. a kind of small-sized form adaptive drive lacking two according to claim 1 refers to that hand grabs device, which is characterized in that institute
It further includes left cover, right cover plate, front shroud, back shroud and lamina tecti that the hand stated, which grabs driving mechanism,；The left cover and right cover plate
It is separately mounted to the driving plate that hand grabs the left and right sides of pedestal to protect hand to grab base interior；The front shroud, back shroud and top
Cover board for be separately fixed at before palm pedestal, below and upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821118657.8U CN208468414U (en) | 2018-07-13 | 2018-07-13 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821118657.8U CN208468414U (en) | 2018-07-13 | 2018-07-13 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
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| Publication Number | Publication Date |
|---|---|
| CN208468414U true CN208468414U (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821118657.8U Active CN208468414U (en) | 2018-07-13 | 2018-07-13 | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590622A (en) * | 2020-07-01 | 2020-08-28 | 潘天泽 | Master-slave cooperative flexible palm surface self-adaptive robot hand device |
-
2018
- 2018-07-13 CN CN201821118657.8U patent/CN208468414U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590622A (en) * | 2020-07-01 | 2020-08-28 | 潘天泽 | Master-slave cooperative flexible palm surface self-adaptive robot hand device |
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