CN210819604U - Under-actuated manipulator with knuckle limiting mechanism - Google Patents
Under-actuated manipulator with knuckle limiting mechanism Download PDFInfo
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- CN210819604U CN210819604U CN201921858147.9U CN201921858147U CN210819604U CN 210819604 U CN210819604 U CN 210819604U CN 201921858147 U CN201921858147 U CN 201921858147U CN 210819604 U CN210819604 U CN 210819604U
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Abstract
The utility model discloses an underactuated manipulator with knuckle limiting mechanism, which comprises a palm, a plurality of fingers and a paw transmission part, wherein the fingers comprise a plurality of sections of connected knuckles; the knuckle limiting mechanism comprises components which can rotate mutually and can provide a fixed limiting function, so that a multi-stage size-adjustable grabbing state is generated between the knuckle and between the knuckle and the paw transmission part. The under-actuated manipulator can realize enveloping and grabbing of large cylinders with different sizes, and can realize pinching of small objects with different sizes and accurate control of force for grabbing and pinching of the objects by adjusting the knuckle limiting mechanism; simple structure, small equipment volume and low manufacturing cost.
Description
Technical Field
The utility model relates to an automatic change mechanical equipment technical field, concretely relates to area knuckle stop gear's underactuated manipulator.
Background
The manipulator is an automatic mechanical device capable of grabbing and carrying objects. The prior manipulator has the following problems: (1) the manipulator has single function, can only grab objects with specific sizes, and cannot grab smaller objects; (2) rigid grabbing, difficult grasping of the grabbing force and easy damage to the grabbed object; (3) the equipment has large volume, low space utilization rate, complex structure and high manufacturing cost.
The under-actuated manipulator is provided with the knuckle limiting mechanism, so that the large cylinders with different sizes can be captured in an enveloping mode, and the small objects with different sizes can be captured by adjusting the knuckle limiting mechanism; the ball screw is utilized to push the paw to open and close, so that the force for grabbing and pinching the object is accurately controlled; the under-actuated fingers grasp objects, so that the flexibility is good, and the grasped objects are not easy to damage; simple structure, small equipment volume and low manufacturing cost.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems in the prior art, the utility model provides an underactuated manipulator with a knuckle limiting mechanism, which can realize enveloping and grabbing large cylinders with different sizes, and can also realize pinching small objects with different sizes by adjusting the knuckle limiting mechanism, and accurately control the force for grabbing and pinching the objects; simple structure, small equipment volume and low manufacturing cost.
In order to realize the technical purpose, the utility model discloses a technical scheme does: an under-actuated manipulator with a knuckle limiting mechanism comprises a palm, a plurality of fingers and a paw transmission part, wherein the fingers comprise a plurality of sections of connected knuckles;
the knuckle limiting mechanism comprises components which can rotate mutually and can provide a fixed limiting function, so that a multi-stage size-adjustable grabbing state is generated between the knuckle and between the knuckle and the paw transmission part.
Further, the knuckle limiting mechanism comprises a knob, a movable limiting block, a fixed limiting block, a limiting key, a sliding block, a key groove and an arc groove; the knob is connected with a sliding block, and the sliding block is bonded with the movable limiting block and rotates along with the knob;
the side surface of the knuckle is provided with at least 2 key grooves, the knob is provided with a limit key, and the limit key is inserted into the key grooves;
the side of knuckle is opened there is the circular arc groove, the sliding block is rotatory along the circular arc groove, and it is rotatory to drive the activity stopper, fixed stopper plays limiting displacement on fixed adjacent another knuckle or hand claw transmission part, works as when the knob rotates extreme position, blocks the activity stopper.
Furthermore, the manipulator comprises at least 3 fingers, each finger has the same structure and comprises a tail end knuckle, a middle knuckle, a root knuckle and a torsion spring, two ends of each knuckle are connected with a driven rod, the driven rods are connected with the driven rods, and the root knuckles are fixed on the paw transmission part;
the torsion springs are arranged on the connecting shafts between the adjacent knuckles and respectively restrict the relative rotation of the tail end knuckle and the middle knuckle and the driven rod and the root knuckle;
the root knuckle is connected with the connecting block, the connecting block is fixed on the paw transmission part, and knuckle limiting mechanisms are symmetrically arranged on a pin shaft of the middle knuckle and the root knuckle and on two sides of a pin shaft connecting the root knuckle and the paw transmission part.
Furthermore, the paw transmission part comprises a motor, a ball screw, a coupling, a guide post, a palm fixing platform, a moving platform and a motor fixing platform;
the motor is fixedly connected with the motor fixing platform, and the ball screw is connected with the output shaft of the motor through a coupling; the motor fixing platform, the moving platform and the palm fixing platform are sequentially arranged in parallel, and a plurality of guide posts penetrate through the three platforms, so that the ball screw is positioned in a space formed by the guide posts;
the guide post is in clearance fit with a hole in the moving platform, the moving platform is connected with the ball screw through a nut and screw structure, and the palm is connected with the palm fixing platform;
the mobile platform is connected to the driven rod of the finger through the driven rod.
After the scheme is adopted, compared with the prior art, the utility model has the following:
1. the knuckle limiting mechanism is adopted, so that each knuckle has a plurality of levels of rotation states, and not only can a large object be captured in an enveloping manner, but also a small object can be captured, and objects with different sizes can be captured;
2. the ball screw is adopted to push the paw to open and close, so that the accurate control of the force for grabbing and pinching the object is realized.
3. Contains at least 3 fingers which are symmetrically distributed relative to the palm and can stably grab or pinch the cylindrical object.
4. Simple structure, small size and low manufacturing cost.
Drawings
FIG. 1 is a general structure diagram of an under-actuated manipulator with a knuckle limiting mechanism;
FIG. 2 is a front view of an under-actuated manipulator with a knuckle limiting mechanism;
FIG. 3 is a top view of an under-actuated manipulator with a knuckle limiting mechanism;
FIG. 4 is an exploded view of the knuckle limiting mechanism;
FIG. 5 is a schematic view of the stop mechanism shown in an inoperative position;
FIG. 6 is a schematic view of the limiting mechanism before it becomes effective;
fig. 7 is an effective schematic diagram of the limiting mechanism.
Detailed Description
The invention will be further explained with reference to the drawings and the specific examples below:
example 1
The embodiment provides an under-actuated manipulator with a knuckle limiting mechanism, which comprises a palm, a plurality of fingers and a paw transmission part, wherein the fingers comprise a plurality of connected knuckles;
the knuckle limiting mechanism comprises components which can rotate mutually and can provide a fixed limiting function, so that a multi-stage size-adjustable grabbing state is generated between the knuckle and between the knuckle and the paw transmission part.
Further, the knuckle limiting mechanism comprises a knob, a movable limiting block, a fixed limiting block, a limiting key, a sliding block, a key groove and an arc groove; the knob is connected with a sliding block, and the sliding block is bonded with the movable limiting block and rotates along with the knob; the side surface of the knuckle is provided with at least 2 key grooves, the knob is provided with a limit key, and the limit key is inserted into the key grooves; the side of knuckle is opened there is the circular arc groove, the sliding block is rotatory along the circular arc groove, and it is rotatory to drive the activity stopper, fixed stopper plays limiting displacement on fixed adjacent another knuckle or hand claw transmission part, works as when the knob rotates extreme position, blocks the activity stopper.
As shown in fig. 4, the knuckle limiting mechanism 4 mainly comprises a knob 6, a movable limiting block 7, a fixed limiting block 8, a limiting key 32, a sliding block 33, a first key groove 34, a second key groove 35 and an arc groove 36. The sliding block 33 of the knob 6 is bonded with the movable limiting block 7 and rotates along with the knob 6, after the sliding block 33 on the knob 6 rotates for a certain angle along the arc groove 36, the limiting key 32 on the knob 6 is inserted into the first key groove 34 or the second key groove 35 on the middle knuckle 10, the position of the movable limiting block 7 is limited, and a certain angle is formed between the position of the movable limiting block 7 and the fixed limiting block 8 on the root knuckle 11, so that the relative rotation angle between the middle knuckle 10 and the root knuckle 11 is limited. When the limit key 32 on the knob 6 is pulled out, the movable limit block 7 can rotate freely along the arc groove 36 along with the sliding block 33, and does not play a limiting role any more.
Furthermore, the manipulator comprises at least 3 fingers, each finger has the same structure and comprises a tail end knuckle, a middle knuckle, a root knuckle and a torsion spring, two ends of each knuckle are connected with a driven rod, the driven rods are connected with the driven rods, and the root knuckles are fixed on the paw transmission part; the torsion springs are arranged on the connecting shafts between the adjacent knuckles and respectively restrict the relative rotation of the tail end knuckle and the middle knuckle and the driven rod and the root knuckle; the root knuckle is connected with the connecting block, the connecting block is fixed on the paw transmission part, and knuckle limiting mechanisms are symmetrically arranged on a pin shaft of the middle knuckle and the root knuckle and on two sides of a pin shaft connecting the root knuckle and the paw transmission part.
As shown in fig. 1 and 2, the manipulator of the present embodiment includes three fingers, a first finger 1 and a second finger 2 are disposed in parallel on one side of the paw, and a third finger 3 is disposed on the other side, and both sides are symmetrically disposed with respect to the palm 12. The three fingers have the same structure and mainly comprise a tail end knuckle 9, a middle knuckle 10, a root knuckle 11, a knuckle limiting mechanism 4, a first driven rod 13, a second driven rod 14, a third driven rod 15, a fourth driven rod 16, a fifth driven rod 17 and a torsion spring 18. Torsion springs 18 constrain the end knuckle 9 and the middle knuckle 10 and the fourth driven lever 16 and the root knuckle 11, respectively. Knuckle limiting mechanisms 4 are arranged on two sides of a pin shaft between the root knuckle 11 and the connecting block 25, and knuckle limiting mechanisms 4 are arranged on two sides of the pin shaft between the middle knuckle 10 and the root knuckle 11. When the envelope grabbing function is to be realized, the limiting key 32 on the knob 6 in the knuckle limiting mechanism 4 is pulled out from the first key groove 34 or the second key groove 35. When the function of pinching the end knuckle 9 is to be realized, the knob 6 in the knuckle limiting mechanism 4 is rotated by a certain angle, so that the limiting key 32 is inserted into the key slot 34 or the key slot 35, and objects with different sizes can be pinched.
As shown in fig. 5, 6 and 7, when the limiting mechanism 4 does not work, the limiting key 32 on the knob 6 is not inserted into the key slot 34 or the key slot 35, and the movable limiting block 7 rotates freely along the arc slot 36 and does not rotate along with the middle knuckle 10. Before the limiting mechanism 4 takes effect, firstly, the knob 6 drives the sliding block 33 and the movable limiting block 7 to rotate for a certain angle along the arc groove 36, and then the limiting key 32 on the knob 6 is inserted into the key groove 34 or the key groove 35 on the middle knuckle 10, so that the movable limiting block 7 rotates along with the middle knuckle 10. When the movable limiting block 7 rotates to a certain angle, the movable limiting block 7 is contacted with the fixed limiting block 8, the relative rotation between the middle knuckle 10 and the root knuckle 11 is limited, and the limiting mechanism 4 takes effect at the moment.
Furthermore, the paw transmission part comprises a motor, a ball screw, a coupling, a guide post, a palm fixing platform, a moving platform and a motor fixing platform;
the motor is fixedly connected with the motor fixing platform, and the ball screw is connected with the output shaft of the motor through a coupling; the motor fixing platform, the moving platform and the palm fixing platform are sequentially arranged in parallel, and a plurality of guide posts penetrate through the three platforms, so that the ball screw is positioned in a space formed by the guide posts;
the guide post is in clearance fit with a hole in the moving platform, the moving platform is connected with the ball screw through a nut and screw structure, and the palm is connected with the palm fixing platform;
the mobile platform is connected to the driven rod of the finger through the driven rod.
The manipulator paw transmission part 5 mainly comprises a motor 19, a coupling 20, a ball screw 21, a nut 22, a moving platform 23 and a connecting block 24.
When an object is to be captured in an enveloping manner, the limiting key 32 on the knob 6 of the knuckle limiting mechanism 4 is pulled out from the key groove 34 or the key groove 35 to be disabled, the motor 19 rotates to drive the ball screw 21 to rotate through the coupler 20, the nut 22 moves upwards along the ball screw 21 to drive the moving platform 23 to move upwards along the guide column 30, the connecting block 24 is connected with the moving platform 23 through a screw and moves upwards along with the moving platform 23, the connecting block 24 drives the driven rod 13 to move upwards, and the driven rod 13 pushes the three fingers to be closed. When the root knuckle 11 contacts the object, the torsion spring 18 between the root knuckle 11 and the fourth driven lever 16 is released from restraint, when the middle knuckle 10 contacts the object, the torsion spring 18 between the middle knuckle 10 and the end knuckle 9 is released from restraint, and when the end knuckle 9 grasps the object, the motor 19 stops rotating.
When an object is to be pinched, the knob 6 in the knuckle limiting mechanism 4 rotates by a certain angle according to the size of the object, the limiting key 32 on the knob 6 is inserted into the corresponding key groove 34 or the corresponding key groove 35, the motor 19 rotates, the ball screw 21 is driven to rotate through the coupler 20, the nut 22 moves upwards along the ball screw 21, the moving platform 23 is driven to move upwards along the guide post 30, the connecting block 24 is connected with the moving platform 23 through a screw, the connecting block 24 moves upwards along with the moving platform 23, the connecting block 24 drives the first driven rod 13 to move upwards, and the first driven rod 13 pushes the three fingers to be closed. The root knuckle 11 drives the movable limiting block 7 to rotate until the limiting effect is achieved after the root knuckle 11 is contacted with the fixed limiting block 8, the root knuckle 11 stops rotating, the torsion spring 18 between the root knuckle 11 and the driven rod 16 is restrained and released, the middle knuckle 10 drives the movable limiting block 7 to rotate relative to the root knuckle 11 until the limiting effect is achieved after the movable limiting block 7 is contacted with the fixed limiting block 8, the middle knuckle 10 stops rotating, the tail end knuckle 9 rotates relative to the middle knuckle 10, and the motor 19 stops rotating until the tail end knuckle 9 pinches an object.
The motor 19 rotates reversely, the ball screw 21 is driven to rotate through the coupler 20, the nut 22 moves downwards along the ball screw 21, the moving platform 23 is driven to move downwards along the guide post 30, the connecting block 24 is connected with the moving platform 23 through a screw and moves downwards along with the moving platform 23, the connecting block 24 drives the driven rod 13 to move downwards, the driven rod 13 pulls three fingers, the fingers are opened, and the object to be grabbed is loosened.
The utility model discloses a thinking and method, the method and the way of specifically realizing this technical scheme are many, above only the utility model discloses a preferred embodiment should point out, to the ordinary technical personnel in this technical field, do not deviating from the utility model discloses under the prerequisite of principle, can also make a plurality of improvements and moist decorations, these improvements should also be regarded as with moist decorations the utility model discloses a protection scope. The components not specified in this embodiment can be implemented by the prior art.
Claims (4)
1. An under-actuated manipulator with a knuckle limiting mechanism is characterized by comprising a palm, a plurality of fingers and a paw transmission part, wherein the fingers comprise a plurality of sections of connected knuckles;
the knuckle limiting mechanism comprises components which can rotate mutually and can provide a fixed limiting function, so that a multi-stage size-adjustable grabbing state is generated between the knuckle and between the knuckle and the paw transmission part.
2. The under-actuated manipulator with the knuckle limiting mechanism as claimed in claim 1, wherein the knuckle limiting mechanism comprises a knob, a movable limiting block, a fixed limiting block, a limiting key, a sliding block, a key slot and an arc groove; the knob is connected with a sliding block, and the sliding block is bonded with the movable limiting block and rotates along with the knob;
the side surface of the knuckle is provided with at least 2 key grooves, the knob is provided with a limit key, and the limit key is inserted into the key grooves;
the side of knuckle is opened there is the circular arc groove, the sliding block is rotatory along the circular arc groove, and it is rotatory to drive the activity stopper, fixed stopper plays limiting displacement on fixed adjacent another knuckle or hand claw transmission part, works as when the knob rotates extreme position, blocks the activity stopper.
3. The under-actuated manipulator with the knuckle limiting mechanism is characterized by comprising at least 3 fingers, wherein each finger has the same structure and comprises a tail knuckle, a middle knuckle, a root knuckle and a torsion spring, a driven rod is connected to each end of each knuckle, the driven rods are connected with the driven rods, and the root knuckles are fixed on a paw transmission part;
the torsion springs are arranged on the connecting shafts between the adjacent knuckles and respectively restrict the relative rotation of the tail end knuckle and the middle knuckle and the driven rod and the root knuckle;
the root knuckle is connected with the connecting block, the connecting block is fixed on the paw transmission part, and knuckle limiting mechanisms are symmetrically arranged on a pin shaft of the middle knuckle and the root knuckle and on two sides of a pin shaft connecting the root knuckle and the paw transmission part.
4. The under-actuated manipulator with the knuckle limiting mechanism as claimed in claim 3, wherein the paw transmission part comprises a motor, a ball screw, a coupling, a guide post, a palm fixing platform, a moving platform and a motor fixing platform;
the motor is fixedly connected with the motor fixing platform, and the ball screw is connected with the output shaft of the motor through a coupling; the motor fixing platform, the moving platform and the palm fixing platform are sequentially arranged in parallel, and a plurality of guide posts penetrate through the three platforms, so that the ball screw is positioned in a space formed by the guide posts;
the guide post is in clearance fit with a hole in the moving platform, the moving platform is connected with the ball screw through a nut and screw structure, and the palm is connected with the palm fixing platform;
the mobile platform is connected to the driven rod of the finger through the driven rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921858147.9U CN210819604U (en) | 2019-10-31 | 2019-10-31 | Under-actuated manipulator with knuckle limiting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921858147.9U CN210819604U (en) | 2019-10-31 | 2019-10-31 | Under-actuated manipulator with knuckle limiting mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN210819604U true CN210819604U (en) | 2020-06-23 |
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| CN201921858147.9U Active CN210819604U (en) | 2019-10-31 | 2019-10-31 | Under-actuated manipulator with knuckle limiting mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
| CN115648261A (en) * | 2022-10-14 | 2023-01-31 | 北京电子科技职业学院 | Flexible rotating joint, mechanical finger and easy-to-assemble and disassemble modular underactuated manipulator |
-
2019
- 2019-10-31 CN CN201921858147.9U patent/CN210819604U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
| CN115648261A (en) * | 2022-10-14 | 2023-01-31 | 北京电子科技职业学院 | Flexible rotating joint, mechanical finger and easy-to-assemble and disassemble modular underactuated manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Monte tech Environmental Protection Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000111 Denomination of utility model: An underactuated manipulator with knuckle limit mechanism Granted publication date: 20200623 License type: Common License Record date: 20201105 Assignee: Chuzhou Monte tech Environmental Protection Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000112 Denomination of utility model: An underactuated manipulator with knuckle limit mechanism Granted publication date: 20200623 License type: Common License Record date: 20201104 |
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| EE01 | Entry into force of recordation of patent licensing contract |