CN209207543U - A kind of electronic two fingers mechanical paw of adaptivity - Google Patents
A kind of electronic two fingers mechanical paw of adaptivity Download PDFInfo
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- CN209207543U CN209207543U CN201822039284.1U CN201822039284U CN209207543U CN 209207543 U CN209207543 U CN 209207543U CN 201822039284 U CN201822039284 U CN 201822039284U CN 209207543 U CN209207543 U CN 209207543U
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Abstract
The utility model discloses a kind of adaptivitys electronic two to refer to mechanical paw, including the bracket between two fingers and two fingers that are oppositely arranged；Each finger includes first knuckle, second knuckle, third knuckle and the 4th finger joint；The first knuckle, third knuckle and the 4th finger joint are successively hinged；One end of the second knuckle is hinged with first knuckle, and the other end is then hinged with the bracket；One end in 4th finger joint far from third knuckle is sequentially connected in rotary drive mechanism, and the rotary drive mechanism can drive the 4th finger joint to rotate around its one end far from third knuckle.The utility model can substitute parallel-moving type and revolving clamping handgrip, and the object of crawl rectangle, cylindricality or irregular shape can also substitute the handgrip of absorption type, clamp light and small or laminar article.
Description
Technical field
The utility model relates to industrial automation productions and teaching and scientific research field, and in particular to a kind of adaptivity electronic two
Refer to mechanical paw.
Background technique
Mechanical paw is typically mounted on Multi-shaft mechanical arm end, for grabbing article of different shapes.Common cognition at present
Mechanical paw be mainly made of executing agency, drive system, control system, position detecting device.Most of gripper on the market
Only simple executing agency and drive system, wherein most typically retaining paw (mechanism crawl) and absorption gripper (vacuum
Or magnetic force is drawn).
Clipping gripper is made of finger and driving mechanism, and finger is directly contacted with crawl object, is divided into translating type and is returned
Transition.Shape, size, crawl position and weight, the common finger-type that the specific structure of finger depends on crawl article surface have
Plane, disc, curved surface, groove profile, method of clamping have it is outer hold and inner support, index have singly refer to, two fingers, mostly finger etc..Clipping gripper
Driving mechanism is common chute-type, link-type, ramp type, pinion and-rack, screw-type, gravity type etc., common drive system
There are motor and cylinder.
Absorption type gripper is mainly made of sucker, leans on negative pressure or electromagnetic field adsorbent article.Negative pressure gripper is common
In adsorbent sheet shape, smooth surface, light and small material, electromagnetism gripper, which is usually used in absorption magnetizable metal or surface, the object of network interface
Product.
Since different articles have different shapes, usual gripper can only grab specific or same type of article, lead
It causes adaptability single, can not flexibly cope with changeable application demand.In order to complete complicated fine task, Adaptive Mechanical
Gripper becomes research direction.Adaptive gripper has complicated executing agency, drive system, control system and location sensitive dress
It sets, according to drive lacking principle, adaptive gripper can adapt to surface shape, size, position and the hardness of crawl article automatically,
Both finger joint leading portion envelop-type crawl large scale and weight can be used, and can also accurately grabs small article and slice substance with finger joint latter end
Product.The multiple degrees of freedom multifinger hand pawl of this adaptivity may be mounted at Multi-shaft mechanical arm or mechanical arm latter end, grab changeable
Change the article of multiplicity without specially replacing customization finger.
The manner of execution of existing electronic two fingers mechanical paw has two fingers translation and two to refer to two kinds of rotation.Two refer to flatly moving type hand
Rapidly, precision is high for pawl response, can inside and outside two-way crawl, commonly used in crawl rectangular article；Two refer to rotary gripper clamping range
Greatly, cooperate specific finger that can wrap up crawl article, two-way can also grab, commonly used in crawl cylindrical objects.Both
The more commonly used kind of drive of gripper is hinge transmission or rack-and-pinion, and output torque is stablized.Compared with pneumatic handgrip, motor
Controller can be added to realize the intelligent movement of gripper in the handgrip of driving, may be implemented by controller to output torque and
The control of finger movement amplitude, to cope with unlike material, the demand of different sizes and different application.
But existing electronic two fingers mechanical paw mainly has the drawback that
1, two kinds of movements of translation and rotation not can be implemented simultaneously, so crawl rectangle and cylindrical articles can not be had both or had
The function of the object of complicated appearance；
2, do not have adaptivity, cope with the material shape or size of article, need to customize specific finger, when outside article
When deformation, need to customize corresponding finger again；
3, without anti-involuntary maneuver mechanism, when accident power-off, finger can run out of steam to be exported without torque, is grabbed
Article may drop out；
4, the output of long-term high-torque and long-time firmly grasp object and can cause to bear to motor, influence electrical machinery life.
Utility model content
In view of the deficiencies of the prior art, the utility model is intended to provide a kind of electronic two fingers mechanical paw of adaptivity, can
To substitute parallel-moving type and revolving clamping handgrip, the object of crawl rectangle, cylindricality or irregular shape can also substitute absorption
The handgrip of formula clamps light and small or laminar article.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of adaptivity electronic two refers to mechanical paw, including between two fingers and two fingers that are oppositely arranged
Bracket；Each finger includes first knuckle, second knuckle, third knuckle and the 4th finger joint；The first knuckle, third knuckle
It is successively hinged with the 4th finger joint；One end of the second knuckle is hinged with first knuckle, the other end then with the bracket phase
Hingedly；One end in 4th finger joint far from third knuckle is sequentially connected in rotary drive mechanism, and the rotary drive mechanism can drive
Dynamic 4th finger joint is rotated around its one end far from third knuckle.
Further, the opposite side of the one end of the first knuckle of two fingers far from third knuckle is slab construction.
Further, the rotary drive mechanism includes power output device, worm gear and worm screw, the worm-drive engagement
In the worm screw, the power output device transmission connection is in the worm screw；The worm-drive is connected in the 4th finger joint far
One end from third knuckle, and the 4th finger joint can be driven to make the worm gear being connect with it around its one end far from third knuckle
The identical rotation of rotation direction.
Further, the 4th finger joint of two fingers is connected to worm gear one and worm gear two, and the worm gear one is driven
It is engaged in worm screw one, the transmission of worm gear two is engaged in worm screw two, and the worm screw one and worm screw two are connected to same power output
Device；The power output device includes high torque motor, driving gear, driven gear, the output shaft of the high torque motor
It is sequentially connected in the driving gear, the driven gear is engaged with driving gear transmission；The driven gear respectively with
The worm screw one connects with two coaxial transmission of worm screw；The worm screw one is opposite with the hand of spiral of worm screw two.
Still further, the power output device further includes transmission shaft, the driven gear and the worm screw one and snail
One of them in bar two is fixedly and coaxially connected, and passes through transmission shaft and another coaxial biography in the worm screw one and worm screw two
Dynamic connection.
Further, is respectively equipped in the opposite one side of the one end of the first knuckle of two fingers far from third knuckle
One finger joint non-slip mat.
Further, the opposite one side of the second knuckle of two fingers is equipped with second knuckle non-slip mat.
Further, the top surface of the bracket is equipped with bracket non-slip mat.
Further, the adaptivity electronic two refers to that mechanical paw further includes having shell, the rotary drive mechanism, wrist
Arm, two fingers the 4th finger joint in one end far from third knuckle be respectively positioned in the shell.
Further, the first knuckle includes merogenesis one and merogenesis two, mutually solid between the merogenesis one and merogenesis two
Determine and there is angle, the merogenesis two is articulated with third knuckle, and one end of the second knuckle is articulated with one He of merogenesis
The intersection of merogenesis two.
The utility model has the beneficial effects that:
1, the adaptivity of the utility model electronic two refers in the finger design structure of mechanical paw, first knuckle and second
Finger joint can utmostly rotate under the drive of third knuckle and the 4th finger joint and be moved to vertical state, then can grab
It takes that thickness is smaller, the longer object of length (such as plate-shaped body), article is directly lockked by first knuckle and second knuckle, or
Envelop-type crawl (such as crawl cylindrical object) is formed to object, therefore parallel-moving type can be substituted and revolving clamping is grabbed
Hand, the object of crawl rectangle, cylindricality or irregular shape, can also substitute the handgrip of absorption type, clamp light and small or laminar
Article.
2, rotating mechanism has self-locking function, (situations such as powered off) institute after can preventing two fingers from running out of steam
The risk that the article of crawl is fallen
3, two fingers are driven by the same power output device, it is ensured that the synchronism of two finger movements and
The consistency of output torque, above-mentioned power output device structure also prevent long-term high-torque export and caused by motor damage.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of clipped shell in the utility model embodiment；
Fig. 2 is the external structure schematic diagram of the utility model embodiment.
Specific embodiment
Below with reference to attached drawing, the utility model will be further described, it should be noted that following embodiment is with this
Premised on technical solution, the detailed implementation method and specific operation process are given, but the protection scope of the utility model is simultaneously
It is not limited to the present embodiment.
As shown in Figs. 1-2, a kind of adaptivity electronic two refers to mechanical paw, including two fingers 1 being oppositely arranged and
Bracket 2 between two fingers 1；Each finger 1 includes first knuckle 3, second knuckle 4, third knuckle 5 and the 4th finger joint 6；
The first knuckle 3, third knuckle 5 and the 4th finger joint 6 are successively hinged；One end of the second knuckle 4 and 3 phase of first knuckle
Hingedly, the other end is then hinged with the bracket 2；One end transmission connection in 4th finger joint 6 far from third knuckle 5 is driven in rotation
Motivation structure, the rotary drive mechanism can drive the 4th finger joint 6 to rotate around its one end far from third knuckle 5.
Above-mentioned adaptivity electronic two refers in mechanical paw that first knuckle 3 (one end far from third knuckle) and second refers to
Save 4 responsible crawls, third knuckle 5 and the 4th finger joint 6 are bar-link drive, for driving first knuckle 3 and second knuckle 4
Movement.
When work, the 4th one end of finger joint 6 far from third knuckle 5 of two fingers turns under the driving of rotary drive mechanism
It is dynamic, so that third knuckle 5, first knuckle 3, second knuckle 4 be driven to move integrally (translation).
When first knuckle 3 first touches object far from one end of third knuckle 5, at this time under the reaction force of object,
Each finger joint all no longer moves, since third knuckle 5 can generate reaction force, at this time rotary drive mechanism meeting to the 4th finger joint 6
Detect that torque changes and is automatically stopped, third knuckle 5 and the 4th finger joint 6 form stable support construction at this time, own
Chucking power is applied to grip objects on first knuckle 3.
When second knuckle 4 first touches object, then second knuckle 4 is slack under the reaction force of object, and first
Finger joint 3 can make the rotation relative to second knuckle 4 under the promotion of third knuckle 5, so that envelope is formed to object, until first
After object is pressed on bracket by finger joint 3, first knuckle 3 is no longer able to turn, and third knuckle 5 and the 4th finger joint 6 also stop at this time
Rotation, and form stable support construction.
In the finger design structure that above-mentioned adaptivity electronic two refers to mechanical paw, first knuckle 3 and second knuckle 4 exist
Under the drive of third knuckle 5 and the 4th finger joint 6, it can utmostly rotate and be moved to vertical state, then can grab thickness
Smaller, the longer object of length (such as plate-shaped body) is spent, article or right is directly lockked by first knuckle 3 and second knuckle 4
Object forms envelop-type crawl (such as crawl cylindrical object), therefore can substitute parallel-moving type and revolving clamping handgrip,
The object for grabbing rectangle, cylindricality or irregular shape can also substitute the handgrip of absorption type, clamp light and small or sheet-like article
Product.
In the present embodiment, the first knuckle 3 of two fingers is plate far from the opposite side of one end of third knuckle 5
Structure.
Further, the rotary drive mechanism includes power output device, worm gear and worm screw, the worm-drive engagement
In the worm screw, the power output device transmission connection is in the worm screw；The worm-drive is connected in the 4th finger joint far
One end from third knuckle, and the 4th finger joint can be driven to make the worm gear being connect with it around its one end far from third knuckle
The identical rotation of rotation direction.
Since worm and gear is self-locking structure, (power-off feelings such as occur after can preventing two fingers from running out of steam
Condition) risk that falls of the article that is grabbed.
In the present embodiment, the 4th finger joint 6 of two fingers is connected to worm gear 1 and worm gear 2 72, the worm gear one
71 transmissions are engaged in worm screw 1, and the transmission of worm gear 2 72 is engaged in worm screw 2 82, and the worm screw 1 and worm screw 2 82 connect
It is connected to same power output device；The power output device includes high torque motor 9, driving gear 10, driven gear 11, institute
The output shaft transmission connection of high torque motor 9 is stated in the driving gear 10, the driven gear 11 and the driving gear 10
Transmission engagement；The driven gear 11 is connect with the worm screw 1 and 2 82 coaxial transmission of worm screw respectively；The worm screw 1
It is opposite with the hand of spiral of worm screw 2 82.
Two fingers are driven by the same power output device, it is ensured that the synchronism of two finger movements and defeated
The consistency of torque out, above-mentioned power output device structure also prevent long-term high-torque export and caused by motor damage.
Further, the power output device further includes transmission shaft 12, the driven gear 11 and the worm screw 1
Be fixedly and coaxially connected with one of them (in the present embodiment be worm screw 1) in worm screw 2 82, and by transmission shaft 12 with it is described
Worm screw 1 connects with another (being worm screw 1 in the present embodiment) coaxial transmission in worm screw 2 82.
In the present embodiment, the first knuckle 3 of two fingers far from the opposite one side of one end of third knuckle 5 respectively
Equipped with first knuckle non-slip mat 13.Further, the opposite one side of the second knuckle 4 of two fingers is anti-equipped with second knuckle
Skidding 14.Still further, the top surface of the bracket 2 is equipped with bracket non-slip mat 15.The setting of non-slip mat can further enhance
The fastness of grasping body.
In the present embodiment, the adaptivity electronic two refers to that mechanical paw further includes having shell 16, the rotation driving
One end in mechanism, the 4th finger joint 6 of 2, two fingers of bracket far from third knuckle is respectively positioned in the shell 16.
In the present embodiment, the shell 16 specifically includes the shell 1 of the trapezoidal body in top and lower part is in cube
Shell 2 162 is interconnected between the bottom of the shell 1 and the top of shell 2 162；The two of the shell 1
Side is open architecture, and the bracket 2 is located in the shell 1, and the 4th finger joint 6 of two fingers is respectively from shell one
161 two sides are stretched out；In the rotary drive mechanism, high torque motor 9 and driving gear 10 are located in shell 2 162, driven
Gear 11, worm screw 1, worm screw 2 82, worm gear 1, worm gear 2 72 are respectively positioned in the shell 1.In addition, the big torsion
The power module 17 of torque motor 9 is also set in the shell 2 162, the power connection 18 (4 core air plug) of the power module 17
Set on the outer surface of the shell 2 162.
In the present embodiment, the other end of the second knuckle 4 is located at the outside of the shell 16, by through described outer
The articulated shaft 19 of shell 16 is hinged with the bracket 2.
In the present embodiment, the bottom of the shell is additionally provided with flange 20.The flange 20 is for realizing adaptivity
Electronic two finger mechanical paw is docked with robot body.The form of flanges referring to service machine people is needed when installation, uses conjunction
Suitable adapter flange realizes docking for adaptivity electronic two finger mechanical paw and robot.Above-mentioned adaptivity electronic two refers to
Mechanical paw can realize that robot electronic to adaptivity two refers to the control of mechanical paw by connection robot body I/O
System, above-mentioned adaptivity electronic two refer to mechanical paw can also by connecting upper PLC, allow PLC control simultaneously robot with
The adaptivity electronic two refers to mechanical paw, and Lai Shixian robot and adaptivity electronic two refer to that the cooperation of mechanical paw is dynamic
Make.
In the present embodiment, the first knuckle includes merogenesis 1 and merogenesis 2 32, the merogenesis 1 and merogenesis two
It is fixed to each other between 32 and there are angle (such as 120 °), the merogenesis 2 32 is articulated with third knuckle 5, the second knuckle 4
One end be articulated with the intersection of the merogenesis 1 and merogenesis 2 32.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and modification, and all these change and modification, should be construed as being included in the utility model claims protection scope it
It is interior.
Claims (10)
1. a kind of adaptivity electronic two refers to mechanical paw, which is characterized in that including two fingers being oppositely arranged and two
Bracket between finger；Each finger includes first knuckle, second knuckle, third knuckle and the 4th finger joint；Described first refers to
Section, third knuckle and the 4th finger joint are successively hinged；One end of the second knuckle is hinged with first knuckle, the other end then with
The bracket is hinged；In rotary drive mechanism, the rotation is driven for one end transmission connection in 4th finger joint far from third knuckle
Motivation structure can drive the 4th finger joint to rotate around its one end far from third knuckle.
2. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the first of two fingers refers to
The opposite side for saving one end far from third knuckle is slab construction.
3. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the rotary drive mechanism
Including power output device, worm gear and worm screw, the worm-drive is engaged in the worm screw, and the power output device transmission connects
It is connected to the worm screw；The worm-drive is connected to one end in the 4th finger joint far from third knuckle, and can drive the 4th finger joint
Make the identical rotation of rotation direction for the worm gear being connect with it around its one end far from third knuckle.
4. adaptivity electronic two according to claim 3 refers to mechanical paw, which is characterized in that the 4th of two fingers refers to
Section is connected to worm gear one and worm gear two, and the transmission of worm gear one is engaged in worm screw one, and the transmission of worm gear two is engaged in snail
Bar two, the worm screw one and worm screw two are connected to same power output device；The power output device include high torque motor,
Driving gear, driven gear, the output shaft transmission connection of the high torque motor in the driving gear, the driven gear with
The driving gear transmission engagement；The driven gear is connect with the worm screw one and two coaxial transmission of worm screw respectively；The snail
Bar one is opposite with the hand of spiral of worm screw two.
5. adaptivity electronic two according to claim 4 refers to mechanical paw, which is characterized in that the power output device
It further include transmission shaft, the driven gear is fixedly and coaxially connected with one of them in the worm screw one and worm screw two, and is passed through
Transmission shaft is connect with another coaxial transmission in the worm screw one and worm screw two.
6. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the first of two fingers refers to
It saves and is respectively equipped with first knuckle non-slip mat in the opposite one side of one end far from third knuckle.
7. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the second of two fingers refers to
Opposite one side is saved equipped with second knuckle non-slip mat.
8. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the top surface of the bracket is set
There is bracket non-slip mat.
9. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the adaptivity is electronic
Two refer to that mechanical paws further include having shell, the rotary drive mechanism, bracket, two fingers the 4th finger joint in refer to far from third
One end of section is respectively positioned in the shell.
10. adaptivity electronic two according to claim 1 refers to mechanical paw, which is characterized in that the first knuckle packet
Merogenesis one and merogenesis two are included, be fixed to each other between the merogenesis one and merogenesis two and there is angle, the merogenesis two is articulated with
Third knuckle, one end of the second knuckle are articulated with the intersection of the merogenesis one and merogenesis two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822039284.1U CN209207543U (en) | 2018-12-05 | 2018-12-05 | A kind of electronic two fingers mechanical paw of adaptivity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822039284.1U CN209207543U (en) | 2018-12-05 | 2018-12-05 | A kind of electronic two fingers mechanical paw of adaptivity |
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| Publication Number | Publication Date |
|---|---|
| CN209207543U true CN209207543U (en) | 2019-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822039284.1U Active CN209207543U (en) | 2018-12-05 | 2018-12-05 | A kind of electronic two fingers mechanical paw of adaptivity |
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| CN (1) | CN209207543U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434867A (en) * | 2018-12-05 | 2019-03-08 | 广东科佩克机器人有限公司 | A kind of electronic two fingers mechanical paw of adaptivity |
| CN113714768A (en) * | 2021-09-29 | 2021-11-30 | 中铁建电气化局集团第一工程有限公司 | Flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly |
-
2018
- 2018-12-05 CN CN201822039284.1U patent/CN209207543U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434867A (en) * | 2018-12-05 | 2019-03-08 | 广东科佩克机器人有限公司 | A kind of electronic two fingers mechanical paw of adaptivity |
| CN113714768A (en) * | 2021-09-29 | 2021-11-30 | 中铁建电气化局集团第一工程有限公司 | Flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly |
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