CN209936945U - Three-finger manipulator - Google Patents
Three-finger manipulator Download PDFInfo
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- CN209936945U CN209936945U CN201920513210.9U CN201920513210U CN209936945U CN 209936945 U CN209936945 U CN 209936945U CN 201920513210 U CN201920513210 U CN 201920513210U CN 209936945 U CN209936945 U CN 209936945U
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- finger
- knuckle
- transmission gear
- bases
- output
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- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 239000000758 substrate Substances 0.000 claims abstract description 11
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001739 rebound effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
A palm substrate is fixedly connected to the upper end of an upper plate of a rack and is provided with three mounting holes; one finger base is fixedly arranged in one mounting hole, and the other two finger bases are rotatably arranged in the other two mounting holes and are respectively and fixedly connected with the output gear A and the output gear B; the input gear is fixedly sleeved on an output shaft of the rotary steering engine, the transmission gear set is rotatably arranged at the lower part of the upper plate of the rack, the input end of the transmission gear set is meshed with the input gear, and the output end of the transmission gear set is respectively meshed with the output gear A and the output gear B; the fingers mainly comprise near knuckles, far knuckles and spring pieces, and the tail ends of the near knuckles of the three fingers are respectively and rotatably connected with the three finger bases through pin shafts; the output shaft of each grabbing steering engine is sleeved with a pulley, and a traction rope wound on the pulley is connected with a fixed column on a corresponding finger respectively. The manipulator has the advantages of simple structure, small volume, light weight, low manufacturing cost and ideal grabbing effect.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to three indicate manipulators.
Background
The mechanical arm is an extremely important component of the robot, and the existing mechanical arm is mainly divided into a special clamp holder and an intelligent hand. The special clamp holder is earlier in application, has larger volume and heavier mass, can only finish a simple and single manufacturing process, has simpler function and unsatisfactory grabbing effect, and is common in an automatic production line; the intelligent hand has multiple joints and multiple degrees of freedom, is provided with a large number of sensors, can flexibly complete various tasks like a human hand, but has a complex structure and high manufacturing cost, and is not easy to popularize and apply in a large range.
In summary, the manipulator in the prior art has many disadvantages of complex structure, large volume, heavy mass, high overall manufacturing cost and difficult popularization.
Disclosure of Invention
To the problem that above-mentioned prior art exists, the utility model provides a three indicate manipulators, this manipulator simple structure, small in size, quality are light, and low in manufacturing cost, and simultaneously, it snatchs the effect ideal, easily carries out popularization on a large scale in actual production.
In order to achieve the above object, the utility model provides a three-finger manipulator, which comprises a casing, a palm substrate, three finger bases and three fingers; the machine shell consists of an upper machine frame plate, a lower machine frame plate and a machine frame shell connected between the upper machine frame plate and the lower machine frame plate;
an input gear, a transmission gear set, an output gear A, an output gear B, three grabbing steering engines and one rotating steering engine are arranged in the shell, and the three grabbing steering engines and the rotating steering engine are annularly arranged and are all fixedly arranged on the lower plate of the rack;
the upper plate of the frame is provided with three through holes in a triangular shape; the palm substrate is fixedly connected to the upper end of the upper plate of the frame, and three mounting holes are formed in the palm substrate and correspond to the three through holes; one of the finger bases is fixedly arranged in one mounting hole, and the other two finger bases are rotatably arranged in the other two mounting holes and are respectively and fixedly connected with the output gear A and the output gear B;
the input gear is fixedly sleeved on an output shaft of the rotary steering engine, the transmission gear set is rotatably arranged at the lower part of the upper plate of the rack, the input end of the transmission gear set is meshed with the input gear, and the output end of the transmission gear set is respectively meshed with the output gear A and the output gear B;
the finger mainly comprises a near knuckle, a far knuckle and a spring piece, wherein two ends of the spring piece are respectively hinged with the head end of the near knuckle and the tail end of the far knuckle, a rope passing channel A is formed between the position, close to the tail end, of the inner side of the near knuckle and the head end of the near knuckle, a rope passing channel B is formed between the inner side of the tail end of the far knuckle and the outer side of the middle of the far knuckle, and the outer side of the middle of the far knuckle is also connected with a fixed column; the tail ends of the near knuckles of the three fingers are respectively and rotatably connected with the three finger bases through pin shafts, and the springback reset of the fingers is realized through torsion springs assembled on the pin shafts;
a pulley is sleeved on an output shaft of each grabbing steering engine, and a traction rope is wound on each pulley; three through channels are respectively arranged at the central positions of the three finger bases, and the through channels longitudinally penetrate through the finger bases, the palm base plate and the upper plate of the rack in sequence; the traction ropes on the three pulleys penetrate out of the upper parts of the three finger bases through the three through passages respectively, and are connected with the fixed column after winding the traction ropes on the inner side face of the tail end of the proximal knuckle and sequentially passing through the rope passage A and the rope passage B.
In the technical scheme, the pulley is driven to rotate by the grabbing steering engine, so that the drawing rope is contracted to drive the bending action of fingers, and the grabbing of an object is completed; three fingers all can be for pointing the base and around the round pin axle rotation to fix a position and guarantee to kick-back through the torsional spring, simultaneously, a fixed mounting of three finger base, two rotatable formula installations in addition, this kind of structure can make the manipulator have better shape self-adaptability and better effect of snatching, and can increase effectively and snatch the scope. The manipulator has the advantages of simple structure, small volume, light weight, low manufacturing cost, ideal grabbing effect and easy popularization in practical production on a large scale.
Furthermore, still include with the corresponding stop gear of two finger bases of rotatable installation, stop gear is including setting up the arc wall in mounting hole one side, fixed connection at the stopper of finger base one side, and the stopper rotationally sets up in the arc wall. The rotation angle of the finger base can be limited through the cooperation of the arc-shaped grooves and the limiting blocks, then objects to be grabbed can be different, the arrangement mode of the fingers can be changed through rotating the steering engine, the grabbing effect of the objects can be improved, and the universality of the manipulator is improved.
Furthermore, the inner side surfaces of the proximal knuckle and the distal knuckle are both attached with silica gel finger pads. Therefore, the fingers can have a rigid-flexible combined structure, the grabbing process can be flexible, and meanwhile, the friction force on the surfaces of the fingers can be increased.
Further, in order to facilitate installation of the manipulator, the lower end of the lower plate of the rack is fixedly connected with a pair of oppositely arranged bottom plates, and a dovetail-shaped sliding groove is formed between the pair of bottom plates.
Further, in order to reduce the manufacturing cost, the fingers are printed and formed by a 3D printer.
Further, in order to facilitate installation and disassembly, the fixing column is a bolt connected with the distal knuckle.
Further, in order to increase the overall firmness degree, the lower frame plate, the upper frame plate and the palm substrate are fixedly connected with screws connected to the upper end and the lower end of the double-way stud through the double-way stud.
Preferably, the transmission gear set consists of a transmission gear A and a transmission gear B which are meshed with each other.
Furthermore, in order to minimize the resistance of the traction rope in the contraction and release processes, two guide pin shafts A which are arranged along the length direction of the traction rope are arranged in the rope passing channel A, the guide pin shafts A are rotatably connected in the proximal knuckle, and the lower part of the pin shaft of the finger base is provided with a guide pin shaft B.
The invention adopts an underactuated mode, can effectively reduce the manufacturing cost under the condition of meeting the overall requirement of the intelligent manipulator, and is easy to popularize and apply in a large range.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural view of the present invention with the housing removed;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic view of the arrangement structure of the grabbing steering engine in the casing of the present invention;
FIG. 5 is a schematic diagram of the arrangement of the input gear, the transmission gear set, the output gear A and the output gear B;
fig. 6 is a schematic structural diagram of a finger in the present invention.
In the figure: 1. the device comprises a rack shell, 2 parts of fingers, 2 parts of 1 part of a silica gel finger pad, 2 parts of a far knuckle, 2 parts of 3 parts of a spring piece, 2 parts of 4 parts of a near knuckle, 3 parts of a finger base, 4 parts of a palm base plate, 5 parts of a rack upper plate, 6 parts of a rotating steering engine, 7 parts of a rack lower plate, 8 parts of a bottom plate, 9 parts of a grabbing steering engine, 10 parts of a pulley, 11 parts of a double-pass copper column, 12 parts of a screw, 13 parts of a pin shaft, 14 parts of an input gear, 15 parts of an output gear A, 16 parts of an output gear B, 17 parts of a guide pin shaft B, 18 parts of a rope passing channel A, 19 parts of a rope passing channel B, 20 parts of a fixed column, 21 parts of a traction rope, 22 parts of a through channel, 23 parts of an arc-shaped groove, 24 parts of a sliding groove, 25 parts of.
Detailed Description
The present invention will be further explained below.
As shown in fig. 1 to 6, a three-finger manipulator includes a housing, a palm substrate 4, three finger bases 3, and three fingers 2; the machine shell consists of an upper machine frame plate 5, a lower machine frame plate 7 and a machine frame shell 1 connected between the upper machine frame plate 5 and the lower machine frame plate 7;
an input gear 14, a transmission gear set, an output gear A15, an output gear B16, three grabbing steering engines 9 and one rotating steering engine 6 are arranged in the shell, and the three grabbing steering engines 9 and the rotating steering engine 6 are annularly arranged and are fixedly arranged on a lower plate 7 of the rack;
three through holes are formed in the upper plate 5 of the rack in a triangular manner; the palm substrate 4 is fixedly connected to the upper end of the upper plate 5 of the frame, and three mounting holes are formed corresponding to the three through holes; one of the finger bases 3 is fixedly arranged in one mounting hole, and the other two finger bases 3 are rotatably arranged in the other two mounting holes and are respectively and fixedly connected with the output gear A15 and the output gear B16; preferably, the two finger bases 3, which are rotatably mounted, are located on the same side.
The input gear 14 is fixedly sleeved on an output shaft of the rotary steering engine 6, the transmission gear set is rotatably arranged at the lower part of the rack upper plate 5, the input end of the transmission gear set is meshed with the input gear 14, and the output end of the transmission gear set is respectively meshed with the output gear A15 and the output gear B16;
the finger 2 mainly comprises a near knuckle 2-4, a far knuckle 2-2 and a spring piece 2-3, wherein two ends of the spring piece 2-3 are hinged with the head end of the near knuckle 2-4 and the tail end of the far knuckle 2-2 respectively. The elastic hinge is formed by the spring pieces 2-3, the connection structure is simple and easy to realize compared with the traditional hinge, and a better rebound effect can be achieved between the far knuckle 2-2 and the near knuckle 2-4. A rope passing channel A18 is arranged between the position of the inner side of the near knuckle 2-4 close to the tail end and the head end of the near knuckle, a rope passing channel B19 is arranged between the inner side of the tail end of the far knuckle 2-2 and the outer side of the middle of the far knuckle, and the outer side of the middle of the far knuckle 2-2 is also connected with a fixed column 20; the tail ends of the proximal knuckles 2-4 of the three fingers 2 are respectively rotatably connected with the three finger bases 3 through pin shafts 13, and the springback reset of the fingers 2 is realized through torsion springs 29 assembled on the pin shafts 13;
a pulley 10 is sleeved on an output shaft of each grabbing steering engine 9, and a traction rope 21 is wound on each pulley 10; three through channels 22 are respectively arranged at the central positions of the three finger bases 3, and the through channels 22 longitudinally and sequentially penetrate through the finger bases 3, the palm base plate 4 and the rack upper plate 5 to form; the traction ropes 21 on the three pulleys 10 respectively penetrate out of the upper parts of the three finger bases 3 through the three through passages 22, are wound on the inner side of the tail end of the proximal knuckle 2-4, and are connected with the fixed column 20 after passing through the rope passage A18 and the rope passage B19 in sequence.
The finger base structure further comprises limiting mechanisms corresponding to the two rotatably mounted finger bases 3, each limiting mechanism comprises an arc-shaped groove 23 formed in one side of the mounting hole and a limiting block 27 fixedly connected to one side of each finger base 3, and the limiting blocks 27 are rotatably arranged in the arc-shaped grooves 23. Through the cooperation of stopper 27 and arc wall 23, can restrict the turned angle of finger base 3, as an optimization, the turned angle who prescribes a limit to finger base 3 is 60 degrees, like this, can snatch the object to the difference, changes the arrangement of finger through rotating the steering wheel, and then improves the effect of snatching the object to improve the commonality of this manipulator.
The inner side surfaces of the proximal knuckle 2-4 and the distal knuckle 2-2 are both attached with a silica gel finger pad 2-1. Preferably, the inner surface of the silica gel finger pad 2-1 is in a sawtooth shape, so that friction force can be increased, and the use of the flexible silica gel finger pad 2-1 can enable the finger 2 to have flexibility, so that the grabbed object and the self structure are not easily damaged when the soft or hard object is grabbed.
In order to facilitate the installation of the manipulator, a pair of bottom plates 8 which are oppositely arranged are fixedly connected to the lower end of the rack lower plate 7, and a dovetail-shaped sliding groove 24 is arranged between the pair of bottom plates 8. The dovetail-shaped chute 24 is used for mounting the three-finger manipulator, and preferably, the chute 24 can be provided with a pin shaft hole for fixing. By adopting the structure, the three-finger manipulator is convenient to disassemble and assemble, is more convenient than threaded connection and the like, and has better stability.
In order to reduce the manufacturing cost, the finger 2 is printed and formed by a 3D printer.
The fixing post 20 is a bolt connected to the distal knuckle 2-2 for easy mounting and dismounting.
In order to increase the overall firmness, the lower frame plate 7, the upper frame plate 5 and the palm substrate 4 are fixedly connected through double-way studs 11 and screws 12 connected to the upper end and the lower end of the double-way studs 11.
Preferably, the transmission gear set consists of a transmission gear A25 and a transmission gear B26 which are meshed with each other.
In order to minimize the resistance of the traction rope in the contraction and release processes, two guide pin shafts A28 are arranged in the rope passing channel A18 along the length direction of the rope passing channel A, the guide pin shafts A28 are rotatably connected in the proximal knuckles 2-4, and the finger base 3 is provided with a guide pin shaft B17 at the lower part of the pin shaft 13.
When the finger grabbing mechanism is used, the steering engine 6 is rotated to drive the input gear 14 to rotate, the transmission gear A25 and the transmission gear B26 are used for respectively driving the output gear A15 and the output gear B16 to rotate, and the two rotatably installed finger bases 3 are enabled to simultaneously rotate for a certain angle towards the directions close to each other or away from each other, so that the grabbing range of the three fingers 2 is integrally adjusted. The three upper grabbing steering engines 9 are synchronously controlled to drive the pulleys 10 on the upper portions of the upper grabbing steering engines to rotate in the forward direction so as to shrink the traction ropes 21, the traction ropes 21 drive the far knuckles 2-2 to shrink in the shrinking process, and then drive the near knuckles 2-4 to shrink, so that the control process of shrinking the fingers 2 is achieved. When the three fingers 2 are completely contracted to a set range, the grabbing steering engine 9 is controlled to stop acting. When the grabbed objects need to be released, the three grabbing steering engines 9 are synchronously controlled to drive the pulleys 10 to rotate reversely, and the fingers 2 reset under the action of the torsion springs 29 and the spring pieces 2-3 to reach the maximum opening state.
Claims (9)
1. A three-finger manipulator comprises a machine shell, wherein the machine shell consists of a machine frame upper plate (5), a machine frame lower plate (7) and a machine frame shell (1) connected between the machine frame upper plate (5) and the machine frame lower plate (7), and is characterized by further comprising a palm substrate (4), three finger bases (3) and three fingers (2);
an input gear (14), a transmission gear set, an output gear A (15), an output gear B (16), three grabbing steering engines (9) and one rotating steering engine (6) are arranged in the shell, and the three grabbing steering engines (9) and the one rotating steering engine (6) are annularly arranged and are fixedly arranged on a lower plate (7) of the rack;
three through holes are formed in the upper plate (5) of the rack in a triangular manner; the palm substrate (4) is fixedly connected to the upper end of the upper plate (5) of the frame, and three mounting holes are formed corresponding to the three through holes; one finger base (3) is fixedly arranged in one mounting hole, and the other two finger bases (3) are rotatably arranged in the other two mounting holes and are respectively and fixedly connected with an output gear A (15) and an output gear B (16);
the input gear (14) is fixedly sleeved on an output shaft of the rotary steering engine (6), the transmission gear set is rotatably arranged at the lower part of the rack upper plate (5), the input end of the transmission gear set is meshed with the input gear (14), and the output end of the transmission gear set is respectively meshed with the output gear A (15) and the output gear B (16);
the finger (2) mainly comprises a near knuckle (2-4), a far knuckle (2-2) and a spring piece (2-3), wherein two ends of the spring piece (2-3) are respectively hinged with the head end of the near knuckle (2-4) and the tail end of the far knuckle (2-2), a rope passing channel A (18) is arranged between the position, close to the tail end, of the inner side of the near knuckle (2-4) and the head end of the near knuckle, a rope passing channel B (19) is arranged between the inner side of the tail end of the far knuckle (2-2) and the outer side of the middle part of the far knuckle, and the outer side of the middle part of the far knuckle (2-2) is also connected with a fixed column (20); the tail ends of the proximal knuckles (2-4) of the three fingers (2) are respectively and rotatably connected with the three finger bases (3) through pin shafts (13), and the rebound resetting of the fingers (2) is realized through torsion springs (29) assembled on the pin shafts (13);
a pulley (10) is sleeved on an output shaft of each grabbing steering engine (9), and a traction rope (21) is wound on each pulley (10); three through channels (22) are respectively arranged at the central positions of the three finger bases (3), and the through channels (22) longitudinally penetrate through the finger bases (3), the palm base plate (4) and the rack upper plate (5) in sequence to form; the traction ropes (21) on the three pulleys (10) respectively penetrate out of the upper parts of the three finger bases (3) through the three through passages (22), and are wound on the inner side surface of the tail end of the proximal knuckle (2-4), and then are connected with the fixed column (20) after passing through the rope passage A (18) and the rope passage B (19) in sequence.
2. The three-finger manipulator according to claim 1, further comprising a limiting mechanism corresponding to the two rotatably mounted finger bases (3), wherein the limiting mechanism comprises an arc-shaped groove (23) arranged on one side of the mounting hole and a limiting block (27) fixedly connected to one side of the finger bases (3), and the limiting block (27) is rotatably arranged in the arc-shaped groove (23).
3. A three-finger manipulator according to claim 1 or 2, wherein the inner side surfaces of the near knuckle (2-4) and the far knuckle (2-2) are both attached with a silica gel finger pad (2-1).
4. The three-finger manipulator according to claim 3, wherein a pair of bottom plates (8) which are oppositely arranged are fixedly connected to the lower end of the lower frame plate (7), and a dovetail-shaped sliding groove (24) is arranged between the pair of bottom plates (8).
5. A three-finger manipulator according to claim 4, characterised in that the fingers (2) are formed by printing with a 3D printer.
6. A three-finger manipulator according to claim 5, wherein the fixed column (20) is a bolt connected with the far knuckle (2-2).
7. The three-finger manipulator according to claim 6, wherein the lower frame plate (7), the upper frame plate (5) and the palm substrate (4) are fixedly connected through double-way studs (11) and screws (12) connected to the upper end and the lower end of the double-way studs (11).
8. A three-finger robot according to claim 7, characterized in that the transmission gear set consists of a transmission gear A (25) and a transmission gear B (26) which are meshed with each other.
9. The three-finger manipulator according to claim 8, wherein two guide pin shafts A (28) are arranged in the rope passing channel A (18) along the length direction of the rope passing channel A, the guide pin shafts A (28) are rotatably connected in the near knuckles (2-4), and the finger base (3) is provided with a guide pin shaft B (17) at the lower part of the pin shaft (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920513210.9U CN209936945U (en) | 2019-04-16 | 2019-04-16 | Three-finger manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920513210.9U CN209936945U (en) | 2019-04-16 | 2019-04-16 | Three-finger manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209936945U true CN209936945U (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920513210.9U Expired - Fee Related CN209936945U (en) | 2019-04-16 | 2019-04-16 | Three-finger manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN209936945U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571632A (en) * | 2020-06-05 | 2020-08-25 | 浙江工业大学 | Multi-scene self-adaptive three-finger manipulator |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN114012766A (en) * | 2021-11-10 | 2022-02-08 | 江南大学 | Multi-degree-of-freedom bionic hand and operation method for electric positioning and pneumatic clamping of multi-degree-of-freedom bionic hand |
| CN114952909A (en) * | 2022-05-25 | 2022-08-30 | 合肥学院 | Robot finger's traction structure and robot finger |
-
2019
- 2019-04-16 CN CN201920513210.9U patent/CN209936945U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571632A (en) * | 2020-06-05 | 2020-08-25 | 浙江工业大学 | Multi-scene self-adaptive three-finger manipulator |
| CN111571632B (en) * | 2020-06-05 | 2024-06-07 | 浙江工业大学 | Multi-scene self-adaptive three-finger manipulator |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN114012766A (en) * | 2021-11-10 | 2022-02-08 | 江南大学 | Multi-degree-of-freedom bionic hand and operation method for electric positioning and pneumatic clamping of multi-degree-of-freedom bionic hand |
| CN114952909A (en) * | 2022-05-25 | 2022-08-30 | 合肥学院 | Robot finger's traction structure and robot finger |
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Granted publication date: 20200114 Termination date: 20210416 |