CN218698900U - Mechanical finger, manipulator and robot - Google Patents
Mechanical finger, manipulator and robot Download PDFInfo
- Publication number
- CN218698900U CN218698900U CN202221794811.XU CN202221794811U CN218698900U CN 218698900 U CN218698900 U CN 218698900U CN 202221794811 U CN202221794811 U CN 202221794811U CN 218698900 U CN218698900 U CN 218698900U
- Authority
- CN
- China
- Prior art keywords
- knuckle
- gear
- joint
- spur gear
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides a mechanical finger, a manipulator comprising the mechanical finger and a robot comprising the manipulator; the mechanical finger comprises a fixing part, a first knuckle, a second knuckle and a third knuckle which are sequentially arranged, and further comprises a first joint and a second joint which sequentially and rotatably connect the fixing part, the first knuckle and the second knuckle, wherein a driving assembly is connected with the first joint and drives the first knuckle to rotate relative to the fixing part; the first transmission mechanism is connected with the first joint and the second joint, drives the second knuckle to rotate relative to the first knuckle when the first knuckle rotates relative to the fixed part, and drives the third knuckle to rotate relative to the second knuckle when the second knuckle rotates relative to the first knuckle; according to the scheme, three joints can be bent only by one power source, so that power is saved, and the structure of the device is simpler.
Description
Technical Field
The utility model belongs to the technical field of the manipulator, especially, relate to a mechanical finger, manipulator and robot.
Background
The manipulator is used for simulating hands and plays an important role in modern production and life. In order to make the mechanical arm and the mechanical finger more flexible, multi-finger and multi-knuckle become development trend; however, in the prior art, a power source is usually provided for each knuckle of the mechanical finger separately, which consumes power and often results in a complicated structure and a large volume of the mechanical finger.
For example, patent document CN111421567A discloses a gear differential under-actuated three-joint mechanical finger structure and an operation method thereof, the mechanical finger structure controls three fingers by using one power source, however, the angles of the three fingers of the mechanical finger structure are arranged in 120 degrees, the positions of the fingers are relatively fixed, and the mechanical finger structure is more suitable for the situation that the three fingers grasp an object at the same time, and has a large volume and limited use scenes. Patent document CN109648589B discloses a robot dexterous manipulator device based on cylinder driving, in which each joint adopts a multi-link coupling connection mode to realize transmission, and the device also has the problems of complexity and large volume.
SUMMERY OF THE UTILITY MODEL
A technical object of the utility model is to provide a mechanical finger, manipulator and robot, this manipulator simple structure and through a plurality of knuckles of single power supply drive.
In order to solve the above technical problem, as an aspect of the present invention, a mechanical finger is provided, including fixed part, first knuckle, second knuckle and the third knuckle that arranges in proper order, still include:
a first joint for rotatably connecting the first knuckle and the fixing portion;
a second joint for rotatably connecting the second knuckle to the first knuckle;
a third joint for rotatably connecting the third knuckle to the second knuckle;
the driving assembly is connected with the first joint and used for driving the first knuckle to rotate relative to the fixing part;
the first transmission mechanism is connected with the first joint and the second joint and used for driving the second knuckle to rotate relative to the first knuckle when the first knuckle rotates relative to the fixing part;
and the second transmission mechanism is connected with the second joint and the third joint and is used for driving the third knuckle to rotate relative to the second knuckle when the second knuckle rotates relative to the first knuckle.
Further, the first joint comprises: the first driving spur gear, the first driven spur gear and the first driven spur gear;
first initiative straight-teeth gear with drive assembly links to each other and by the drive assembly drive, first auxiliary spur-teeth gear with first initiative straight-teeth gear is coaxial to be linked to each other and synchronous rotation, and the two all with fixed part rotatable coupling, first driven straight-teeth gear with first auxiliary spur-teeth gear meshing, and with fixed part rotatable coupling, and with first knuckle links to each other, so that first knuckle follows first driven straight-teeth gear synchronous rotation.
When the device works, the driving component provides a power source to drive the first joint to move, so that the first knuckle rotates relative to the fixed part; meanwhile, the first transmission mechanism is transmitted between the first joint and the second joint to drive the second joint to move, so that the second knuckle rotates relative to the first knuckle; the motion of the second joint is transmitted to the third joint through the second transmission mechanism, so that the third knuckle rotates relative to the second knuckle; therefore, the scheme can realize three joint bending only by one power source.
Further, first drive mechanism includes that a plurality of is followed first knuckle arranges in proper order and all with first knuckle rotatable coupling's first drive wheel, a plurality of first drive wheel meshes in proper order, and is close to first joint's first drive wheel with first joint links to each other, is close to the second joint's first drive wheel with the second joint links to each other, so that first drive mechanism will first joint with the second joint links to each other and realizes the transmission.
Furthermore, the first driving wheel close to the first joint is meshed with the first driving straight gear, and is coaxial and rotatably connected with the first driven straight gear.
Further, the second joint comprises: a second driving spur gear, a second secondary spur gear and a second driven spur gear;
the second initiative straight-teeth gear with first drive mechanism links to each other and by first drive mechanism drives, the vice transmission straight-teeth gear of second with the second initiative straight-teeth gear coaxial coupling links to each other and synchronous rotation, and the two all with first knuckle rotatable coupling, the driven straight-teeth gear of second with the vice transmission straight-teeth gear meshing of second, and with first knuckle rotatable coupling, and with the second knuckle links to each other, so that the second knuckle is followed the driven straight-teeth gear synchronous rotation of second.
Furthermore, the second transmission mechanism comprises a plurality of second transmission wheels which are sequentially arranged along the second knuckle and are rotatably connected with the second knuckle, the plurality of second transmission wheels are sequentially meshed, the second transmission wheels close to the second knuckle are connected with the second knuckle, and the second transmission wheels close to the third knuckle are connected with the third knuckle, so that the second transmission mechanism connects the second knuckle with the third knuckle and realizes transmission.
Further, the second transmission wheel close to the second joint is meshed with the second driving straight gear, and is coaxial and rotatably connected with the second driven straight gear.
Further, the third joint comprises: a third driving spur gear, a third auxiliary driving spur gear and a third driven spur gear;
the third initiative straight-tooth gear with the second drive mechanism links to each other and by the second drive mechanism drives, the third auxiliary drive straight-tooth gear with the third initiative straight-tooth gear is coaxial to be linked to each other and synchronous rotation, and the two all with second knuckle rotatable coupling, the driven straight-tooth gear of third with the meshing of the third auxiliary drive straight-tooth gear, and with second knuckle rotatable coupling, and with the third knuckle links to each other, so that the third knuckle follows the synchronous rotation of the driven straight-tooth gear of third.
Further, the driving assembly includes: the motor, the driving bevel gear, the driven bevel gear and the driven straight gear;
an output shaft of the motor is coaxially connected with the driving bevel gear, and the driven bevel gear is meshed with the driving bevel gear; the driven straight gear and the driven bevel gear are connected in the same shaft and are connected with the first joint for transmission.
As the utility model discloses an on the other hand, provided a manipulator, this manipulator includes a plurality of the utility model discloses a mechanical finger.
Further, the manipulator still includes palm skeleton and mechanical thumb, mechanical thumb includes fixed part, first knuckle, second knuckle, first joint, second joint, drive assembly and first drive mechanism, the palm skeleton with mechanical thumb with a plurality of manipulator finger all links to each other.
As another aspect of the present invention, a robot is provided, which includes the manipulator of the present invention.
Compared with the prior art, the utility model, mechanical finger, manipulator and robot, beneficial effect lies in: on one hand, the mechanical finger of the scheme can realize the bending of three joints only by one power source, so that the power is saved; on the other hand, the mechanical finger is simple in structure, small in size and capable of being used in a small working space; in another aspect, the manipulator is formed with greater dexterity by flexibly combining the number of fingers and their angle relative to each other.
Drawings
Fig. 1 is a schematic view of the overall structure of a mechanical finger in an embodiment of the present invention;
FIG. 2 is an exploded view of a mechanical finger in an embodiment of the present invention;
fig. 3 is a partial exploded view of a first joint in an embodiment of the invention;
fig. 4 is a partial exploded view of a second joint in an embodiment of the invention.
In the drawings, each reference numeral denotes:
2-drive assembly, 3-first joint, 4-first transmission mechanism, 5-second joint, 6-second transmission mechanism, 7-third joint, 11-fixed part, 12-first knuckle, 13-second knuckle, 14-third knuckle, 21-motor, 22-drive bevel gear, 23-driven bevel gear, 24-driven spur gear, 25-synchronizing pin, 31-first drive spur gear, 32-first secondary drive spur gear, 33-first driven spur gear, 34-first ring pin, 35-first pin, 41-first transmission gear, 51-second drive spur gear, 52-second secondary drive spur gear, 53-second driven spur gear, 54-second ring pin, 61-second transmission gear, 71-third drive spur gear, 72-third secondary drive spur gear, 73-third driven spur gear, 74-third ring pin, 75-square column pin, 76-fourth spur gear, 111-upper fixed plate, 112-lower fixed plate, 341-first upper clamp plate, 131-lower clamp plate, 1311-second lower clamp plate, 131-upper clamp plate, 131-lower clamp plate, 131-first lower clamp plate, 21-lower clamp plate, 31-third clamp plate, fourth clamp plate, 51-upper clamp plate, fourth clamp plate, and fourth clamp plate 132.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present application, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "bottom," "inner," "outer," "axial," and the like are used in the orientations and positional relationships indicated in the drawings for the purpose of convenience and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The embodiment is as follows:
in the present embodiment, as shown in fig. 1 and 2, the mechanical finger includes a fixing portion 11, a first knuckle 12, a second knuckle 13, and a third knuckle 14, which are arranged in this order, and further includes:
a first joint 3 for rotatably connecting the first knuckle 12 to the fixed part 11;
a second joint 5 for rotatably connecting the second knuckle 13 with the first knuckle 12;
a third joint 7 for rotatably connecting a third knuckle 14 with the second knuckle 13;
the driving component 2 is connected with the first joint 3 and is used for driving the first knuckle 12 to rotate relative to the fixing part 11;
a first transmission mechanism 4 which is connected with the first joint 3 and the second joint 5 and is used for driving the second knuckle 13 to rotate relative to the first knuckle 12 when the first knuckle 12 rotates relative to the fixed part 11;
and the second transmission mechanism 6 is connected with the second joint 5 and the third joint 7 and is used for driving the third knuckle 14 to rotate relative to the second knuckle 13 when the second knuckle 13 rotates relative to the first knuckle 12.
In operation, the driving component 2 provides power to drive the first joint 3 to move, so that the first knuckle 12 rotates relative to the fixed part 11; meanwhile, the first transmission mechanism 4 is transmitted between the first joint 3 and the second joint 5 to drive the second joint 5 to move, so that the second knuckle 13 rotates relative to the first knuckle 12; the movement of the second joint 5 is transmitted to the third joint 7 via the second transmission mechanism 6, and the third knuckle 14 is rotated relative to the second knuckle 13. Through the scheme, the three joints can be bent only by one power source, so that the power is saved, and the structure of the device is simpler.
The respective components will be described in detail below.
As shown in fig. 1 and 2, the drive assembly 2 includes: a motor 21, a drive bevel gear 22, a driven bevel gear 23, and a driven spur gear 24; wherein, the output shaft of the motor 21 is coaxially connected with the driving bevel gear 22, and the driven bevel gear 23 is meshed with the driving bevel gear 22; the driven straight gear 24 is coaxially connected with the driven bevel gear 23; through the scheme, the driving bevel gear 22 rotates along with the motor 21, the driven bevel gear 23 is meshed with the driving bevel gear 22, the rotating direction is changed, the driven straight gear 24 rotates along with the driven bevel gear 23, and power is further transmitted to each knuckle of the mechanical finger.
Specifically, the drive bevel gear 22 and the output shaft of the motor 21 may be fixedly connected, such as welded, or may be connected by a pin or key to achieve synchronous rotation. The driven spur gear 24 and the driven bevel gear 23 are connected by a synchronizing pin shaft 25, and as shown in fig. 2, the synchronizing pin shaft 25 has a circular-cut cross section, circular-cut holes are correspondingly formed in the driven spur gear 24 and the driven bevel gear 23 so that the synchronizing pin shaft 25 passes through, and when the driven bevel gear 23 rotates, the synchronizing pin shaft 25 and the driven bevel gear 24 rotate synchronously with the driven bevel gear 23.
The fixing part 11 includes an upper fixing plate 111 and a lower fixing plate 112, as shown in fig. 1 and 2, the upper fixing plate 111 is located between the driven bevel gear 23 and the driven spur gear 24, the lower fixing plate 112 is located below the driven spur gear 24, and both the upper fixing plate 111 and the lower fixing plate 112 are rotatably connected to the synchronizing pin 25, and the upper fixing plate 111 and the lower fixing plate 112 are kept stationary while the synchronizing pin 25 rotates. Specifically, the upper fixing plate 111 and the lower fixing plate 112 are both provided with circular holes for the synchronization pin 25 to pass through, and the synchronization pin 25 can smoothly rotate in the circular holes. On the basis, the upper fixing plate 111 and the lower fixing plate 112 may be further fixed by other means, such as being connected to a fixed portion of the motor 21, and the connection may be direct connection or indirect connection, and may be achieved by various means such as welding, bonding, clamping, bolting, and the like.
The first joint 3 comprises a first driving spur gear 31, a first driven spur gear 32 and a first driven spur gear 33; the first driving spur gear 31 is engaged with the driven spur gear 24 of the driving assembly 2, the first driven spur gear 32 is coaxially connected to the first driving spur gear 31 and rotates synchronously, and both are rotatably connected to the fixing portion 11, and the first driven spur gear 33 is engaged with the first driven spur gear 32, is rotatably connected to the fixing portion 11, and is connected to the first knuckle 12, so that the first knuckle 12 rotates synchronously with the first driven spur gear 33.
Specifically, as shown in fig. 1 and 2, the first driving spur gear 31 and the first driven spur gear 32 are connected by a cylindrical pin, and the cylindrical pin passes through the upper fixing plate 111 and the lower fixing plate 112, and circular holes for the cylindrical pin to pass through are respectively formed in the upper fixing plate 111 and the lower fixing plate 112, so that the first driving spur gear 31 and the first driven spur gear 32 can be rotatably connected to the fixing portion 11, and the fixing portion 11 is kept stationary when the first driving spur gear 31 and the first driven spur gear 32 rotate. Further, the size of the first auxiliary spur gear 32 is smaller than that of the first driving spur gear 31, the lower portion of the first auxiliary spur gear 32 is embedded into the first driving spur gear 31, and the first driving spur gear 31 is correspondingly provided with tooth grooves to accommodate the lower portion of the first auxiliary spur gear 32.
Further, as shown in fig. 1 and 2, an upper portion of the first sub-spur gear 32 is engaged with the first driven spur gear 33, the first sub-spur gear 32 drives the first driven spur gear 33 to rotate when rotating, and a diameter of the first driven spur gear 33 is larger than that of the first sub-spur gear 32 to reduce the rotation speed.
The first knuckle 12 includes a first upper jaw 121 and a first lower jaw 122. As shown in fig. 1 and 2, the first upper clamping plate 121 and the first lower clamping plate 122 are both parallel to the upper fixing plate 111 and the lower fixing plate 112, and one ends of the first upper clamping plate 121 and the upper fixing plate 111 adjacent to each other are overlapped, and one ends of the first lower clamping plate 122 and the lower fixing plate 112 adjacent to each other are overlapped.
The connection of the first driven spur gear 33 with the upper and lower fixed plates 111, 112, the first upper and lower clamp plates 121, 122 is shown in fig. 3. As shown in fig. 3, the upper fixing plate 111, the first upper clamp plate 121, the first lower clamp plate 122, and the lower fixing plate 112 are sequentially arranged from top to bottom, and the first driven spur gear 33 is located between the first upper clamp plate 121 and the first lower clamp plate 122. The first driven spur gear 33 is rotatably coupled to the upper and lower fixing plates 111 and 112 by a first pin shaft 35, and the first pin shaft 35 passes through an overlapping portion of the first upper clamp plate 121 and the upper fixing plate 111 and an overlapping portion of the first lower clamp plate 122 and the lower fixing plate 112 to connect the first knuckle 12 and the fixing part 11. The first pin shaft 35 is a cylindrical pin, and the upper fixing plate 111 and the lower fixing plate 112 are provided with round holes at the penetrating position of the first pin shaft 35, it can be understood that the upper fixing plate 111 and the lower fixing plate 112 are kept stationary when the first pin shaft 35 rotates. Similarly, the first lower clamping plate 122 is provided with a circular hole at the position where the first pin shaft 35 penetrates, and the first pin shaft 35 is rotatably connected with the first lower clamping plate 122.
Further, the first driven spur gear 33 is rotatably connected with the first pin shaft 35 through a first annular pin 34, and the lower part of the first annular pin 34 is embedded in the first driven spur gear 33 and is fixedly connected with the first driven spur gear 33, and the fixed connection can be welding, key connection and the like; the first pin shaft 35 penetrates through the first ring pin 34 and can rotate relative to the first ring pin 34, so that the first driven spur gear 33 and the first pin shaft 35 are rotatably connected. Further, the upper portion of the first ring pin 34 is clamped with the first upper clamp plate 121, so that the second upper clamp plate 121 and the first ring pin 34 are relatively fixed in the rotating direction of the first ring pin 34, and the first upper clamp plate 121 can rotate along with the first driven spur gear 33; specifically, as shown in fig. 3, two protrusions 341 are disposed on the upper portion of the first ring pin 34, a first locking groove 1211 is disposed on the first upper clamp plate 121 for receiving the upper portion of the first ring pin 34, the shape of the first locking groove 1211 matches with the shape of the upper portion of the first ring pin 34, so that the upper portion of the first ring pin 34 is locked into the first locking groove 1211, and the second upper clamp plate 121 and the first ring pin 34 are relatively fixed in the rotation direction of the first ring pin 34 by the first locking groove 1211 matching with the protrusions 341.
As can be understood from the above-mentioned solution, when the first driven spur gear 33 rotates, the upper fixing plate 111 and the lower fixing plate 112 do not move, and the first upper clamp plate 121 rotates with the first driven spur gear 33.
The first transmission mechanism 4 includes a plurality of first transmission wheels 41 sequentially arranged along the first knuckle 12 and rotatably connected to the first knuckle 12, the first transmission wheels 41 are spur gears, and in this embodiment, the number of the first transmission wheels 41 is three. The three first driving wheels 41 are sequentially meshed, the first driving wheel 41 close to the first joint 3 is meshed with the first driving spur gear 31, and the first driving wheel 41 is coaxial and rotatably connected with the first driven spur gear 33. As shown in fig. 2 and 3, a first driving wheel 41 near the first joint 3 is located below the first driven spur gear 33, the first pin shaft 35 penetrates through the first driving wheel 41 and is rotatably connected to the first driving wheel 41, and the first driving wheel 41 rotates under the driving of the first driving spur gear 31. As shown in fig. 1 and 2, the other two first driving wheels 41 are rotatably connected to the first upper clamp plate 121 and the first lower clamp plate 122, respectively, by pins. It can also be understood that when the first upper jaw 121 rotates with the first driven spur gear 33, the first lower jaw 122 also rotates therewith, and thus, the rotation of the first knuckle 12 with respect to the fixing portion 11 is achieved; meanwhile, the two first transmission gears 41 distant from the first joint 3 revolve around the first driven spur gear 33 while rotating and transmitting to the second joint 5 by meshing of gear teeth, due to being driven by the first upper clamp 121 and the first lower clamp 122.
The second joint 5 includes a second driving spur gear 51, a second sub-driving spur gear 52, and a second driven spur gear 53; the second driving spur gear 51 is engaged with the first driving wheel 41 which is close to the second driving spur gear 51, the second driven spur gear 52 is coaxially connected with the second driving spur gear 51 and rotates synchronously, and both are rotatably connected with the first knuckle 12, and the second driven spur gear 53 is engaged with the second driven spur gear 52, is rotatably connected with the first knuckle 12, and is connected with the second knuckle 13, so that the second knuckle 13 rotates synchronously with the second driven spur gear 53.
As shown in fig. 1 and 2, similarly to the first joint 3, the second driving spur gear 51 and the second sub-driving spur gear 52 are toothed to achieve synchronous rotation, and the second driving spur gear 51 and the second sub-driving spur gear 52 are rotatably connected to the first upper jaw 121 and the first lower jaw 122 by means of cylindrical pins, thereby achieving rotatable connection of the second driving spur gear 51 and the second sub-driving spur gear 52 to the first knuckle 12; it can be understood that the second driving spur gear 51 and the second sub-driving spur gear 52 rotate by the first driving gear 41 on the one hand, and revolve around the first driven spur gear 33 with the first upper jaw 121 and the first lower jaw 122 on the other hand.
Likewise, as shown in fig. 1 and 2, an upper portion of the second sub-gear 52 is engaged with the second driven spur gear 53, the second driven spur gear 53 is driven to rotate when the second sub-gear 52 rotates, and a diameter of the second driven spur gear 53 is larger than a diameter of the second sub-gear 52 to reduce the rotation speed.
The second knuckle 13 includes a second upper jaw 131 and a second lower jaw 132. As shown in fig. 1 and 2, the second upper clamping plate 131 and the second lower clamping plate 132 are both parallel to the first upper clamping plate 121 and the first lower clamping plate 122, and one ends of the second upper clamping plate 131 and the first upper clamping plate 121 adjacent to each other are overlapped, and one ends of the second lower clamping plate 132 and the first lower clamping plate 122 adjacent to each other are overlapped.
As shown in fig. 4, the connection of the second driven spur gear 53 to the first upper jaw 121, the first lower jaw 122, the second upper jaw 131, and the second lower jaw 132 is similar to that shown in fig. 3, and will not be described again. In this embodiment, the second upper clamp plate 131 is located above the first upper clamp plate 121, and the second driven spur gear 53 is clamped with the second upper clamp plate 131 through the second annular pin 54, so that the second upper clamp plate 131 rotates synchronously with the second driven spur gear 53; in this embodiment, a second protrusion 541 is disposed on the upper portion of the second annular pin 54, a second locking groove 1311 is disposed on the second upper clamp plate 131, and the third upper clamp plate 131 and the second annular pin 54 are relatively fixed in the rotation direction of the second annular pin 54 by the second locking groove 1311 matching with the second protrusion 541; in addition, the first upper plate 121 is provided with a through groove for passing the second protrusion 541 therethrough when being mounted.
Similarly, the second driven spur gear 53 rotates by the second sub-drive spur gear 52, and revolves around the first driven spur gear 33 with the first upper jaw 121 and the first lower jaw 122. The second upper jaw 131 rotates according to the rotation of the second driven spur gear 53, and the first upper jaw 121 and the first lower jaw 122 do not rotate according to the second driven spur gear 53. It will thus be appreciated that this solution enables the second knuckle 13 to rotate relative to the first knuckle 12.
The second transmission mechanism 6 includes a plurality of second transmission wheels 61 sequentially arranged along the second knuckles 13 and rotatably connected to the second knuckles 13, the second transmission wheels 61 are straight gears, and in this embodiment, the number of the second transmission wheels 61 is three. In some embodiments, the number of the first transmission wheel 41 and the second transmission wheel 61 may be different from three, and the number of the two may be different from each other, so that the parity of the number of the two is the same. In this embodiment, three second transmission wheels 61 are sequentially engaged, the second transmission wheel 61 adjacent to the second joint 5 is engaged with the second driving spur gear 51, and the second transmission wheel 61 is coaxial and rotatably connected with the second driven spur gear 53. As shown in fig. 2, the position and connection manner of the second transmission wheel 61 and other components are similar to those of the first transmission wheel 41, and are not described again.
The third joint 7 includes a third driving spur gear 71, a third auxiliary driving spur gear 72, and a third driven spur gear 73; the third driving spur gear 71 is meshed with the second driving wheel 61 which is close to the third driving spur gear 71, the third auxiliary driving spur gear 72 and the third driving spur gear 71 are coaxially connected and synchronously rotate, and both are rotatably connected with the second finger joint 13, and the third driven spur gear 73 is meshed with the third auxiliary driving spur gear 72, is rotatably connected with the second finger joint 13, and is connected with the third finger joint 14, so that the third finger joint 14 synchronously rotates along with the third driven spur gear 73; similarly, the third driving spur gear 71 and the third secondary spur gear 72 rotate by the second transmission wheel 61, and revolve around the second driven spur gear 53 with the second upper jaw 131 and the second lower jaw 132.
As shown in fig. 1 and 2, the third driving spur gear 71 and the third secondary driving spur gear 72 are rotatably connected to the second upper plate 131 and the second lower plate 132 by cylindrical pins, similarly to the first joint 3 and the second joint 5, thereby achieving the rotatable connection with the second finger joint 13. As shown in fig. 2, unlike the first joint 3 and the second joint 5, the third driving spur gear 71 and the third auxiliary driving spur gear 72 realize coaxial rotation through a square pin 75 sleeved outside the cylindrical pin, and the third driving spur gear 71 and the third auxiliary driving spur gear 72 are respectively provided with a clamping groove for the square pin 75 to pass through, in this embodiment, the clamping groove is a square groove.
The third knuckle 14 includes a third upper jaw 141 and a third lower jaw 142. As shown in fig. 1 and 2, the third upper and lower clamping plates 141 and 142 are parallel to the second upper and lower clamping plates 131 and 132, and one ends of the third upper and lower clamping plates 141 and 131 adjacent to each other are overlapped, and one ends of the third lower and lower clamping plates 142 and 132 adjacent to each other are overlapped; the third upper plate 141 is located below the second upper plate 131, and the third lower plate 142 is located above the second lower plate 132.
As shown in fig. 1 and 2, the connection of the third driven spur gear 73 to the second upper jaw 131, the second lower jaw 132, the third upper jaw 141, and the third lower jaw 142 is similar to that shown in fig. 3, and thus, a detailed description thereof is omitted. It should be noted that the third driven spur gear 73 is engaged with the third upper jaw 141 through the third ring pin 74, so that the third knuckle 14 rotates synchronously with the third driven spur gear 73. A fourth driven spur gear 76 is coaxially connected below the third driven spur gear 73, and the fourth driven spur gear 76 can support the third driven spur gear 73; in some embodiments, the fourth driven spur gear 76 may not be provided, for example, a fixture block may be provided below the third driven spur gear 73 to support the third driven spur gear 73, and the fixture block may be provided on the rotation shaft of the third driven spur gear 73.
Also, in the present embodiment, the sides of the third upper clamping plate 141 and the third lower clamping plate 142 are fixedly connected (not shown), and the fixed connection can be realized by connecting side plates, so that the third upper clamping plate 141 and the third lower clamping plate 142 move synchronously.
Similarly, the third driven spur gear 73 rotates by the third sub-drive spur gear 72, and revolves around the second driven spur gear 53 along with the second upper jaw 131 and the second lower jaw 132; the third upper plate 141 and the third lower plate 142 rotate with the rotation of the third driven spur gear 73, and the second upper plate 131 and the second lower plate 132 do not rotate with the rotation of the third driven spur gear 73. Thus, it can be appreciated that this arrangement achieves rotation of the third knuckle 14 relative to the second knuckle 13.
In summary, the mechanical finger of the present embodiment can bend three joints with one power source.
In this embodiment, the first driving spur gear 31, the second driving spur gear 51, the third driving spur gear 71, the first transmission wheel 41, and the second transmission wheel 61 have the same size, and the modulus of all the spur gears is the same, and is 0.4; since the radius of the spur gears is proportional to the number of teeth in the case of the same modulus, it can be understood that the number of teeth of the first driving spur gear 31, the second driving spur gear 51, the third driving spur gear 71, the first driving wheel 41, and the second driving wheel 61 is the same.
In this embodiment, the same or close rotating speeds of the three knuckles can be realized by selecting the number of teeth of each spur gear. The method of selecting the number of gear teeth is described below.
At the first joint 3, the first driving spur gear 31 is meshed with the first driving wheel 41, the first driven spur gear 32 is meshed with the first driven spur gear 33, meanwhile, the first driving spur gear 31 is coaxially connected with the first driven spur gear 32, the first driven spur gear 33 is coaxially connected with the first driving wheel 41, the first driving spur gear 31 and the first driving wheel 41 have the same size, and the moduli of the spur gears are the same; since the radius of the spur gear is proportional to the number of teeth in the case of the same module, it can be seen that:
the number of teeth of the first driving spur gear 31 = (the number of teeth of the first sub-driving spur gear 32 + the number of teeth of the first driven spur gear 33)/2.
In this embodiment, the modulus of all spur gears is 0.4. Based on the working conditions of the mechanical finger, such as the size of the working space of the mechanical finger, the size of the force required to be borne by the mechanical finger, and the like, the number of teeth of the first driven spur gear 32 is selected to be the minimum value under the working conditions, in this embodiment, 12 teeth; selecting the number of teeth of the first driven spur gear 33 as the maximum value in the working environment, which is 42 teeth in the embodiment; therefore, the numbers of teeth of the first driving spur gear 31, the second driving spur gear 51, the third driving spur gear 71, the first transmission gear 41, and the second transmission gear 61 are all 27 teeth.
Taking the first knuckle 12 rotated by 90 ° with respect to the fixed part 11 as an example, at this time, the first driven spur gear 33 is rotated by 90 °, and the angle of rotation required for the first auxiliary spur gear 32 and the first driving spur gear 31 is calculated to be 315 ° according to the gear ratio of the first auxiliary spur gear 32 and the first driven spur gear 33.
It can be understood that when the first knuckle 12 is rotated by 90 ° with respect to the fixed part 11, the first driving wheel 41 coaxially connected to the first driven spur gear 33 is also rotated by 315 ° by the transmission of the first driving spur gear 31 and the first driving wheel 41, and the next first driving wheel 41 is revolved by 90 ° around the wheel axis of the first driven spur gear 33 by the first knuckle 12 while rotating by 225 °; therefore, the second spur gear 51 rotates 225 ° by the transmission of the first transmission gear 41 and the second spur gear 51, and the second spur gear 52 also rotates 225 °.
Similarly, at the second joint 5, the number of teeth of each gear satisfies:
the number of teeth of the second driving spur gear 51 =27= (the number of teeth of the second sub-transmission spur gear 52 + the number of teeth of the second driven spur gear 53)/2.
Assuming that the number of teeth of the second sub-movement spur gear 52 is 13 and the number of teeth of the second driven spur gear 53 is 41, when the second sub-movement spur gear 52 rotates by 225 ° according to the gear ratio of the second sub-movement spur gear 52 and the second driven spur gear 53, the second sub-movement spur gear rotates by 71.3 °.
Similarly, when the number of teeth of the second sub-spur gear 52 is 14 and the number of teeth of the second driven spur gear 53 is 40, and it is calculated that the second sub-spur gear 52 rotates by 225 °, the second sub-spur gear rotates by 78.75 °.
By analogy, it is finally obtained that when the number of teeth of the second subsidiary gear 52 is 16, the number of teeth of the second driven spur gear 53 is 38, and the second subsidiary gear 52 rotates by 225 °, the second driven spur gear 53 rotates by 94.7 ° and approaches 90 °. Therefore, the number of teeth of the second sub-drive spur gear 52 is 16 and the number of teeth of the second driven spur gear 53 is 38, so that when the first knuckle 12 is rotated by 90 ° with respect to the fixed part 11, the second knuckle 13 is rotated by nearly 90 ° with respect to the first knuckle 12.
At this time, by the engagement of the second driving spur gear 51 with the second transmission wheel 61, the second transmission wheel 61 coaxially connected to the second driven spur gear 53 also rotates by 225 °, and the next second transmission wheel 61 revolves by 94.7 ° around the axle of the second driven spur gear 53 by the second upper jaw 131 and the second lower jaw 132, so that the second transmission wheel 61 rotates by 225 ° -94.7 ° =130.3 °.
Therefore, when the first finger 12 is rotated by 90 ° with respect to the fixed part 11 and the second finger 13 is rotated by 94.7 ° with respect to the first finger 12, the third driving spur gear 71 rotates by 130.3 °; similarly, assuming the numbers of teeth of the third spur gear 72 and the third spur gear 73, it is finally obtained that when the number of teeth of the third spur gear 72 is 22 and the number of teeth of the third spur gear 73 is 32, the third spur gear 73 is rotated by 89.6 ° and approaches 90 ° in the case where the third spur gear 71 is rotated by 94.7 °. Therefore, the number of teeth of the third auxiliary spur gear 72 is 22, and the number of teeth of the third driven spur gear 73 is 32.
In summary, in the present embodiment, in order to make the rotation speeds of the three knuckles substantially the same, the number of teeth of each gear is:
the teeth of the first driving straight gear 31, the second driving straight gear 51, the third driving straight gear 71, the first transmission gear 41 and the second transmission gear 61 are all 27 teeth;
the number of teeth of the first auxiliary spur gear 32 is 12, and the number of teeth of the first driven spur gear 33 is 42;
the number of teeth of the second secondary spur gear 52 is 16, and the number of teeth of the second driven spur gear 53 is 38;
the third auxiliary spur gear 72 has 22 teeth and the third driven spur gear 73 has 32 teeth.
The embodiment also discloses a manipulator, which comprises mechanical fingers, a palm framework and a mechanical thumb.
Similar to the mechanical finger, the mechanical thumb comprises a fixing part 11, a first knuckle 12 and a second knuckle 13 which are sequentially arranged, and further comprises a first joint 3, a second joint 5, a driving assembly 2 and a first transmission mechanism 4, and the structure and the connection mode of each component of the mechanical thumb are the same as those of each component of the mechanical finger.
In this embodiment, the manipulator includes a mechanical thumb and four mechanical fingers. Any one mode in the prior art can be adopted for the connection mode of the palm framework, the mechanical thumb and each mechanical finger, for example, a thumb fixing groove and a finger fixing groove are respectively arranged at the connection position of the palm framework, the mechanical thumb and the mechanical finger, the mechanical thumb is connected to the thumb fixing groove, and the mechanical hand is connected to the finger fixing groove.
The embodiment also discloses a robot, which comprises the manipulator.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (10)
1. The utility model provides a mechanical finger which characterized in that, includes fixed part, first knuckle, second knuckle and the third knuckle that arranges in proper order, still includes:
a first joint for rotatably connecting the first knuckle and the fixing portion;
a second joint for rotatably connecting the second knuckle to the first knuckle;
a third joint for rotatably connecting the third knuckle to the second knuckle;
the driving assembly is connected with the first joint and used for driving the first knuckle to rotate relative to the fixing part;
the first transmission mechanism is connected with the first joint and the second joint and used for driving the second knuckle to rotate relative to the first knuckle when the first knuckle rotates relative to the fixing part;
and the second transmission mechanism is connected with the second joint and the third joint and is used for driving the third knuckle to rotate relative to the second knuckle when the second knuckle rotates relative to the first knuckle.
2. The mechanical finger of claim 1, wherein the first joint comprises: the first driving spur gear, the first auxiliary driving spur gear and the first driven spur gear;
first initiative straight-teeth gear with drive assembly links to each other and by the drive assembly drive, first secondary spur-teeth gear with first initiative straight-teeth gear coaxial linkage and synchronous rotation, and the two all with fixed part rotatable coupling, first driven straight-teeth gear with first secondary spur-teeth gear meshing, and with fixed part rotatable coupling, and with first knuckle links to each other, so that first knuckle is along with first driven straight-teeth gear synchronous rotation.
3. The mechanical finger as claimed in claim 2, wherein the first transmission mechanism comprises a plurality of first transmission wheels sequentially arranged along the first knuckle and rotatably connected with the first knuckle, the plurality of first transmission wheels are sequentially meshed, the first transmission wheel close to the first joint is connected with the first joint, and the first transmission wheel close to the second joint is connected with the second joint, so that the first transmission mechanism connects the first joint and the second joint to realize transmission; the first driving wheel close to the first joint is meshed with the first driving straight gear, and is coaxial and rotatably connected with the first driven straight gear.
4. The mechanical finger of claim 1, wherein the second joint comprises: a second driving spur gear, a second driven spur gear and a second driven spur gear;
the second initiative straight-teeth gear with first drive mechanism links to each other and by first drive mechanism drives, the vice transmission straight-teeth gear of second with the second initiative straight-teeth gear coaxial coupling links to each other and synchronous rotation, and the two all with first knuckle rotatable coupling, the driven straight-teeth gear of second with the vice transmission straight-teeth gear meshing of second, and with first knuckle rotatable coupling, and with the second knuckle links to each other, so that the second knuckle is followed the driven straight-teeth gear synchronous rotation of second.
5. The mechanical finger as claimed in claim 4, wherein the second transmission mechanism comprises a plurality of second transmission wheels sequentially arranged along the second knuckle and rotatably connected with the second knuckle, the plurality of second transmission wheels are sequentially engaged, the second transmission wheel close to the second joint is connected with the second knuckle, and the second transmission wheel close to the third joint is connected with the third knuckle, so that the second transmission mechanism connects the second joint and the third knuckle to realize transmission; the second driving wheel close to the second joint is meshed with the second driving straight gear, and is coaxial and rotatably connected with the second driven straight gear.
6. The mechanical finger of claim 1, wherein the third joint comprises: a third driving spur gear, a third auxiliary driving spur gear and a third driven spur gear;
the third initiative straight-tooth gear with the second drive mechanism links to each other and by the second drive mechanism drives, the third auxiliary drive straight-tooth gear with the third initiative straight-tooth gear is coaxial to be linked to each other and synchronous rotation, and the two all with second knuckle rotatable coupling, the driven straight-tooth gear of third with the meshing of the third auxiliary drive straight-tooth gear, and with second knuckle rotatable coupling, and with the third knuckle links to each other, so that the third knuckle follows the synchronous rotation of the driven straight-tooth gear of third.
7. The mechanical finger of claim 1, wherein the drive assembly comprises: the motor, the driving bevel gear, the driven bevel gear and the driven straight gear;
an output shaft of the motor is coaxially connected with the driving bevel gear, and the driven bevel gear is meshed with the driving bevel gear; the driven straight gear and the driven bevel gear are connected in the same shaft and are connected with the first joint for transmission.
8. A manipulator, characterized in that it comprises a number of manipulator fingers according to any one of claims 1-7.
9. The manipulator according to claim 8, further comprising a palm skeleton and a robotic thumb, wherein the robotic thumb comprises the anchor portion, the first knuckle, the second knuckle, the first joint, the second joint, the drive assembly, and the first transmission mechanism, and wherein the palm skeleton is coupled to both the robotic thumb and the plurality of robotic fingers.
10. A robot, characterized in that the robot comprises a manipulator according to any of claims 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221794811.XU CN218698900U (en) | 2022-07-12 | 2022-07-12 | Mechanical finger, manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221794811.XU CN218698900U (en) | 2022-07-12 | 2022-07-12 | Mechanical finger, manipulator and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218698900U true CN218698900U (en) | 2023-03-24 |
Family
ID=85626316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221794811.XU Active CN218698900U (en) | 2022-07-12 | 2022-07-12 | Mechanical finger, manipulator and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218698900U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194799A (en) * | 2022-07-12 | 2022-10-18 | 深圳金博仕机器人有限公司 | Mechanical finger |
-
2022
- 2022-07-12 CN CN202221794811.XU patent/CN218698900U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115194799A (en) * | 2022-07-12 | 2022-10-18 | 深圳金博仕机器人有限公司 | Mechanical finger |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6963152B2 (en) | Robot wrist structure and robot | |
| EP1577062A1 (en) | Industrial robot with speed reducer in rotary joints | |
| US20110126661A1 (en) | Industrial robot | |
| EP2514573A1 (en) | Robot | |
| JP3848123B2 (en) | Humanoid robot hand | |
| CN218698900U (en) | Mechanical finger, manipulator and robot | |
| US11951614B1 (en) | Dual-joint multi-degree-of-freedom mechanical arm and driving method thereof | |
| US11938624B2 (en) | Parallel kinematic robot | |
| JPH0659635B2 (en) | Robot wrist | |
| CN115194799A (en) | Mechanical finger | |
| CN218364825U (en) | Mechanical finger with force limiting device, mechanical arm and robot | |
| CN218698899U (en) | Mechanical finger with elastic structure, mechanical arm and robot | |
| CN115194800A (en) | Design method of mechanical finger | |
| CN216634380U (en) | Manipulator self angle rotating device | |
| CN209793782U (en) | Human-simulated wrist structure convenient to control | |
| CN114670241A (en) | Six-axis arm structure of simulation robot | |
| CN113910274A (en) | Multi-finger dexterous hand of robot | |
| CN215240957U (en) | Bionic joint | |
| CN111283721B (en) | Hinge type robot joint | |
| CN101664933A (en) | Iso-curvature bent mechanical arm based on gear drive | |
| CN201052618Y (en) | Multi-joint flexible mechanical arm | |
| CN210819616U (en) | Bionic manipulator and production equipment | |
| CN113070902B (en) | Three-axis rotating robot joint | |
| CN103009398A (en) | Humanoid hand in underactuation exquisite transmission structure | |
| CN216422557U (en) | Be applied to industrial field's modularization manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |