CN211030041U

CN211030041U - Anthropomorphic full-drive five-finger dexterous manipulator

Info

Publication number: CN211030041U
Application number: CN201921603448.7U
Authority: CN
Inventors: 贺翔
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2020-07-17
Anticipated expiration: 2029-09-24

Abstract

The utility model discloses an anthropomorphic full-drive five-finger dexterous manipulator in the technical field of anthropomorphic full-drive five-finger dexterous manipulators, a swing motor is fixedly arranged on a fixed block, the output end of the swing motor is fixedly connected with a worm meshed with a rotating gear, a first motor is fixedly arranged in an inner cavity of a first joint shell, the output end of the first motor extends out of the first joint shell and is fixedly connected with a first main bevel gear, the outer side of the first main bevel gear is meshed with a first auxiliary bevel gear, the first auxiliary bevel gear is fixedly provided with an installation shaft movably hinged with the first joint shell, the end part of the installation shaft and a second joint shell are fixedly assembled, the independent action of a single joint can be realized, the degree of freedom is higher, the self-locking can be realized after the action is finished, and the controllable range of five groups of finger assemblies can be increased, can adjust according to the size of a dimension of goods, adaptability is stronger.

Description

Anthropomorphic full-drive five-finger dexterous manipulator

Technical Field

The utility model relates to an anthropomorphic full drive five-finger dexterous manipulator technical field specifically is an anthropomorphic full drive five-finger dexterous manipulator.

Background

With the rapid development of modern scientific technology and the continuous expansion of the application field of robots, the original robot tail end manipulator cannot meet the current production requirements, and in order to overcome the defects that a common tail end manipulator is single in clamping mode, small in moving space, lack of flexibility, difficult to accurately control and the like, a smart manipulator is produced, has multiple degrees of freedom, can grab objects in various shapes and different materials, and can finely operate the grabbed objects, but the manipulator on the current market is large in size and high in weight, is not fully driven by five fingers, and is insufficient in flexibility, so that a humanoid fully-driven five-finger smart manipulator is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an anthropomorphic full drive five-finger dexterous manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an anthropomorphic full-drive five-finger dexterous manipulator comprises a palm fixing block, wherein a storage battery is fixedly arranged in an inner cavity of the palm fixing block, an integrated single chip microcomputer is electrically connected onto the outer wall of the storage battery, mounting plates are fixedly arranged at the top and the bottom of the rear side wall of the palm fixing block, five groups of rotating shafts with the same structure are movably assembled between the two groups of mounting plates through bearings, rotating gears are fixedly assembled on the outer walls of the five groups of rotating shafts, finger assemblies are fixedly assembled on the outer walls of the rotating shafts, fixing blocks are fixedly arranged at the tops of the mounting plates at the lower sides, swing motors are fixedly arranged on the fixing blocks, worms meshed with the rotating gears are fixedly connected at the output ends of the swing motors, each finger assembly comprises a first joint shell fixed on the outer wall of the rotating shaft through a fixing frame, and a first motor is fixedly, the output end of the first motor extends out of the first joint shell and then is fixedly connected with a first main bevel gear, the outer side of the first main bevel gear is engaged and assembled with a first auxiliary bevel gear, the first auxiliary bevel gear is fixedly assembled with an installation shaft movably hinged with the first joint shell, the end part of the installation shaft is fixedly assembled with a second joint shell, the inner cavity of the second joint shell is fixedly provided with a second motor, the output end of the second motor extends out of the second joint shell and then is fixedly connected with a second main bevel gear, the outer side of the second main bevel gear is engaged and assembled with a second auxiliary bevel gear, the second auxiliary bevel gear is fixedly assembled with an installation shaft movably hinged with the second joint shell, the end part of the installation shaft is fixedly assembled with a third joint shell, the inner cavity of the third joint shell is fixedly provided with a third motor, the output end of the third motor extends out of the third joint shell and then is fixedly connected with a third main bevel gear, and a third auxiliary bevel gear is engaged and assembled at the outer side of the third main bevel gear, an installation shaft movably hinged with the third joint shell is fixedly assembled on the third auxiliary bevel gear, and the end part of the installation shaft is fixedly assembled with fingertips.

Preferably, two sets of distance between the mounting panel is greater than the height of first joint shell, just the width of mounting panel is the same with the width of palm fixed block, just the lateral wall of mounting panel is the arc.

Preferably, the storage battery and the integrated single chip microcomputer are electrically connected with five groups of swing motors, five groups of first motors, five groups of second motors and five groups of third motors.

Preferably, all fixedly on the outer wall of first joint shell, second joint shell and third joint shell be provided with installation axle activity articulated fixed bolster, just fixedly on the outer wall of second joint shell, third joint shell and fingertip be provided with the mounting bracket of fixed bolster looks adaptation, and mounting bracket and installation axle fixed connection.

Preferably, the sizes of the first main bevel gear, the second main bevel gear and the third main bevel gear are matched with the size of the fixed support, and the sizes of the first auxiliary bevel gear, the second auxiliary bevel gear and the third auxiliary bevel gear are matched with the size of the mounting frame.

Preferably, the fingertips are conical, and five groups of the finger components are made of light materials such as carbon fibers.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model has the advantages of reasonable design, the action actuating mechanism of every joint of manipulator adopts the motor to drive main bevel gear and rotates, the relative rotation of joint is accomplished to meshing drive vice bevel gear pivoted mode through main bevel gear and vice bevel gear, thereby can realize single articulated independent action, the degree of freedom is higher, and can utilize main bevel gear and vice bevel gear's meshing to realize the auto-lock after accomplishing the action, the security is higher, in addition, can drive the worm through pivoted swing motor and rotate, thereby it rotates with the axis of rotation synchronization to drive transmitting gear and transmitting gear's meshing, thereby can drive the whole rotation that takes place certain angle of finger subassembly, can increase five groups finger subassembly's controllable scope, can adjust according to the size of a dimension of goods, adaptability is stronger.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the partial assembly structure of the present invention.

In the figure: the device comprises a palm fixing block 1, a storage battery 2, an integrated single chip microcomputer 3, a mounting plate 4, a rotating shaft 5, a rotating gear 6, a finger assembly 7, a fixing frame 8, a first joint shell 9, a worm 10, a fixing block 11, a swinging motor 12, a first motor 13, a first main bevel gear 14, a first auxiliary bevel gear 15, a mounting shaft 16, a second joint shell 17, a second motor 18, a second main bevel gear 19, a second auxiliary bevel gear 20, a third joint shell 21, a third motor 22, a third main bevel gear 23, a third auxiliary bevel gear 24 and a fingertip 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 and fig. 2, the present invention provides a technical solution: an anthropomorphic full-drive five-finger dexterous manipulator comprises a palm fixing block 1, a storage battery 2 is fixedly arranged in an inner cavity of the palm fixing block 1, an integrated single chip microcomputer 3 is electrically connected on the outer wall of the storage battery 2, mounting plates 4 are fixedly arranged at the top and the bottom of the rear side wall of the palm fixing block 1, five groups of rotating shafts 5 with the same structure are movably assembled between two groups of mounting plates 4 through bearings, rotating gears 6 are fixedly assembled on the outer walls of the five groups of rotating shafts 5, finger assemblies 7 are fixedly assembled on the outer walls of the five groups of rotating shafts 5, a fixing block 11 is fixedly arranged at the top of the lower side mounting plate 4, a swing motor 12 is fixedly arranged on the fixing block 11, a worm 10 meshed with the rotating gears 6 is fixedly connected at the output end of the swing motor 12, the finger assemblies 7 comprise a first joint, a first motor 13 is fixedly arranged in the inner cavity of the first joint shell 9, the output end of the first motor 13 extends out of the first joint shell 9 and then is fixedly connected with a first main bevel gear 14, the outer side of the first main bevel gear 14 is engaged and assembled with a first auxiliary bevel gear 15, the first auxiliary bevel gear 15 is fixedly assembled with a mounting shaft 16 movably hinged with the first joint shell 9, the end part of the mounting shaft 16 is fixedly assembled with a second joint shell 17, the inner cavity of the second joint shell 17 is fixedly provided with a second motor 18, the output end of the second motor 18 extends out of the second joint shell 17 and then is fixedly connected with a second main bevel gear 19, the outer side of the second main bevel gear 19 is engaged and assembled with a second auxiliary bevel gear 20, the second auxiliary bevel gear 20 is fixedly assembled with the mounting shaft 16 movably hinged with the second joint shell 17, and the end part of the mounting shaft 16 is fixedly assembled with a third joint shell 21, the inner cavity of the third joint shell 21 is fixedly provided with a third motor 22, the output end of the third motor 22 extends out of the third joint shell 21 and then is fixedly connected with a third main bevel gear 23, the outer side of the third main bevel gear 23 is engaged and assembled with a third auxiliary bevel gear 24, the third auxiliary bevel gear 24 is fixedly assembled with a mounting shaft 16 movably hinged with the third joint shell 21, and the end part of the mounting shaft 16 and a fingertip 25 are fixedly assembled.

Referring to fig. 1, the distance between the two sets of mounting plates 4 is greater than the height of the first joint housing 9, the width of the mounting plates 4 is the same as the width of the palm fixing block 1, and the side walls of the mounting plates 4 are arc-shaped, so that the five sets of finger assemblies 7 can be conveniently mounted;

the storage battery 2 and the integrated single chip microcomputer 3 are electrically connected with five groups of swing motors 12, five groups of first motors 13, five groups of second motors 18 and five groups of third motors 22;

referring to fig. 1, the outer walls of the first joint housing 9, the second joint housing 17 and the third joint housing 21 are all fixedly provided with a fixing support movably hinged with the mounting shaft 16, and the outer walls of the second joint housing 17, the third joint housing 21 and the fingertip 25 are fixedly provided with a mounting frame matched with the fixing support, and the mounting frame is fixedly connected with the mounting shaft 16;

the sizes of the first main bevel gear 14, the second main bevel gear 19 and the third main bevel gear 23 are matched with the size of the fixed support, and the sizes of the first auxiliary bevel gear 15, the second auxiliary bevel gear 20 and the third auxiliary bevel gear 24 are matched with the size of the mounting frame, so that the bevel gear set cannot interfere with the fixed support and the mounting frame when in rotating meshing;

the fingertips 25 are conical, and the five groups of finger assemblies 7 are made of light materials such as carbon fibers, so that the finger assemblies 7 are light and convenient to increase the flexibility of the manipulator.

The working principle is as follows: the integrated single chip microcomputer 3 is used for controlling the first motor 13 to rotate positively, so as to drive the first main bevel gear 14 to rotate, and further drive the first auxiliary bevel gear 15 to rotate, so as to drive the second joint shell 17 to rotate around the installation shaft 16 through the installation shaft 16, so as to complete the joint action of the second joint shell 17, the integrated single chip microcomputer 3 is used for controlling the second motor 18 to rotate positively, so as to drive the second main bevel gear 19 to rotate, so as to drive the second auxiliary bevel gear 20 to rotate, so as to drive the third joint shell 21 to rotate around the installation shaft 16 through the installation shaft 16, so as to complete the joint action of the third joint shell 21, the integrated single chip microcomputer 3 is used for controlling the third motor 22 to rotate positively, so as to drive the third main bevel gear 23 to rotate, so as to drive the third auxiliary bevel gear 24 to rotate, so as to drive the fingertip 25 to rotate around, when the first motor 13, the second motor 18 and the third motor 22 are reversely rotated, the second joint shell 17, the third joint shell 21 and the finger tip 25 can be reset, the action driving mechanism of each joint of the manipulator adopts a mode that the motor drives the main bevel gear to rotate, and the auxiliary bevel gear is driven to rotate by the meshing of the main bevel gear and the auxiliary bevel gear, so that the relative rotation of the joint is completed, thereby the independent action of a single joint can be realized, the degree of freedom is higher, the self-locking can be realized by the meshing of the main bevel gear and the auxiliary bevel gear after the action is completed, the safety is higher, in addition, the single group of swing motors 12 are controlled by the integrated single chip microcomputer 3 to rotate, thereby the swing motors 12 drive the worm 10 to rotate, thereby the rotation gear 6 and the rotation shaft 5 are driven to synchronously rotate by the meshing of the worm 10 and the rotation gear 6, thereby the finger component 7 can be driven to rotate, the swing angle of the five groups of finger assemblies 7 can be independently controlled, the swing angle can be adjusted according to the size of the goods, and the adaptability of the manipulator to the goods is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an anthropomorphic full drive five-finger dexterous manipulator which characterized in that: including palm fixed block (1), the fixed battery (2) that is provided with of inner chamber of palm fixed block (1), electric connection has integrated singlechip (3) on the outer wall of battery (2), the rear side wall top and the bottom of palm fixed block (1) all fixedly are provided with mounting panel (4), two sets of be equipped with five rotation axis (5) that the structure is the same through the bearing activity between mounting panel (4), and five sets of all fixedly on the outer wall of rotation axis (5) be equipped with rotating gear (6), and five sets of fixedly on the outer wall of rotation axis (5) be equipped with finger subassembly (7), the downside the top of mounting panel (4) is fixed and is provided with fixed block (11), just fixedly on fixed block (11) is provided with swing motor (12), just the output fixedly connected with of swing motor (12) and worm (10) that rotating gear (6) mesh mutually, the finger assembly (7) comprises a first joint shell (9) fixed on the outer wall of the rotating shaft (5) through a fixing frame (8), a first motor (13) is fixedly arranged in the inner cavity of the first joint shell (9), the output end of the first motor (13) extends out of the first joint shell (9) and is fixedly connected with a first main bevel gear (14), the outer side of the first main bevel gear (14) is engaged and assembled with a first auxiliary bevel gear (15), the first auxiliary bevel gear (15) is fixedly assembled with an installation shaft (16) movably hinged with the first joint shell (9), the end part of the installation shaft (16) is fixedly assembled with a second joint shell (17), a second motor (18) is fixedly arranged in the inner cavity of the second joint shell (17), the output end of the second motor (18) extends out of the second joint shell (17) and is fixedly connected with a second main bevel gear (19), the outside meshing of second main bevel gear (19) is equipped with second vice bevel gear (20), just fixed being equipped with on second vice bevel gear (20) with second joint shell (17) activity articulated installation axle (16), just the tip and the fixed assembly of third joint shell (21) of installation axle (16), the fixed third motor (22) that is provided with in third joint shell (21) inner chamber, fixedly connected with third main bevel gear (23) behind the output extension third joint shell (21) of third motor (22), the outside meshing of third main bevel gear (23) is equipped with third vice bevel gear (24), just fixed being equipped with on third vice bevel gear (24) and third joint shell (21) activity articulated installation axle (16), just the tip and fingertip (25) fixed fitting of installation axle (16).

2. The anthropomorphic full drive five-finger dexterous manipulator of claim 1, characterized in that: two sets of distance between mounting panel (4) is greater than the height of first joint shell (9), just the width of mounting panel (4) is the same with the width of palm fixed block (1), just the lateral wall of mounting panel (4) is the arc.

3. The anthropomorphic full drive five-finger dexterous manipulator of claim 1, characterized in that: the storage battery (2) and the integrated single chip microcomputer (3) are electrically connected with the five groups of swing motors (12), the five groups of first motors (13), the five groups of second motors (18) and the five groups of third motors (22).

4. The anthropomorphic full drive five-finger dexterous manipulator of claim 1, characterized in that: all fixedly on the outer wall of first joint shell (9), second joint shell (17) and third joint shell (21) be provided with installation axle (16) activity articulated fixed bolster, just fixedly on the outer wall of second joint shell (17), third joint shell (21) and fingertip (25) be provided with the mounting bracket of fixed bolster looks adaptation, and mounting bracket and installation axle (16) fixed connection.

5. The anthropomorphic full drive five-finger dexterous manipulator of claim 4, characterized in that: the sizes of the first main bevel gear (14), the second main bevel gear (19) and the third main bevel gear (23) are matched with the size of the fixed support, and the sizes of the first auxiliary bevel gear (15), the second auxiliary bevel gear (20) and the third auxiliary bevel gear (24) are matched with the size of the mounting frame.

6. The anthropomorphic full drive five-finger dexterous manipulator of claim 1, characterized in that: the fingertips (25) are conical, and the five groups of finger components (7) are made of light materials such as carbon fibers.