CN220241517U

CN220241517U - Three-finger clamp holder of industrial robot

Info

Publication number: CN220241517U
Application number: CN202320973326.7U
Authority: CN
Inventors: 刘洪钢; 王利强; 张仔龙; 徐兵兵
Original assignee: Tianjin Julai Technology Co ltd; Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Current assignee: Tianjin Julai Technology Co ltd; Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-12-26
Anticipated expiration: 2033-04-26

Abstract

The utility model discloses an industrial robot three-finger clamp holder which comprises a finger structure, a palm structure and a voice coil driving motor, wherein the finger structure is arranged on the palm structure; the finger structure consists of three identical mechanical fingers, the three identical mechanical fingers are separated from the bottom of the palm structure at 120 degrees respectively, a voice coil driving motor is arranged in the palm structure, the voice coil driving motor is arranged in the palm structure through a fixed base, a driving disc is fixed at the lower end of the voice coil driving motor, and the voice coil driving motor is connected with the finger structure through a long connecting rod; the three-finger clamping manipulator can change the grabbing gesture through the steering engine, and has good envelopability when facing a simple object; when facing complex objects, a proper grabbing scheme can be formulated according to the shape and the direction of the objects, meanwhile, the self-adaptive grabbing of the manipulator in a certain range is realized by relying on the soft characteristic of the under-actuated structure.

Description

Three-finger clamp holder of industrial robot

Technical Field

The utility model relates to the technical field of manipulators, in particular to a three-finger gripper for an industrial robot.

Background

The traditional manipulator has simple structure and easy control, but is often only applicable to specific objects, has poor applicability and can not meet various requirements. However, for the humanoid manipulator, the degree of freedom of each joint is controlled by a sensor and a drive, which results in high manufacturing cost, great difficulty, complex structure and difficult control, and the serial structure is not suitable for conventional industrial production. The problem between driving and freedom degree is solved, and meanwhile, the flexibility and the universality of the mechanical arm design are improved, and an underactuated principle is often adopted.

For example, as searched, chinese patent publication No. CN 112970428B, an under-actuated picking manipulator, comprising: the mechanical arm comprises a mechanical arm connecting part, a power transmission part, a rack, at least three picking mechanical arm components and an inter-finger reversing mechanism; wherein the head end of the frame is fixedly connected with the mechanical arm connecting frame part, the tail end of the frame is connected with the picking manipulator assembly, the power transmission part is positioned between the mechanical arm connecting frame part and the picking manipulator assembly, and the inter-finger reversing mechanism is arranged on the frame and used for controlling the rotation of the picking manipulator assembly; one of the picking manipulator assemblies is a fixed manipulator finger, and the other is a rotatable manipulator finger.

The above patent suffers from the following disadvantages: the screw rod is adopted as a power transmission component, and the screw rod has the advantages of simple structure, strong reliability, slow action response and slow action.

To this end, the utility model proposes an industrial robot three-finger gripper.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides an industrial robot three-finger clamp holder. The gripping device has a more reliable, stable and flexible gripping mode, has high response speed and is suitable for gripping more complex objects.

The technical scheme of the utility model is as follows: an industrial robot three-finger clamp comprises a finger structure, a palm structure and a voice coil driving motor; the finger structure comprises three identical mechanical fingers, the three identical mechanical fingers are respectively 120 degrees separated from the bottom of the palm structure, the voice coil driving motor is contained in the palm structure, the voice coil driving motor is installed on the palm structure through a fixed base, the driving disc is fixed at the lower end of the voice coil driving motor, and the voice coil driving motor is connected with the left upper driving piece of the finger structure through a long connecting rod.

The preferred finger structure includes three same mechanical fingers, and three mechanical fingers are 120 respectively, are discrete under the lower disc of palm structure, and are fixed on finger slewing mechanism through long round pin axle, and upper right driver blade is connected with finger slewing mechanism through last extension spring, and finger slewing mechanism connects the steering wheel.

The mechanical finger is preferably characterized in that a middle joint of the mechanical finger and a near joint of the mechanical finger are connected through a middle long pin shaft, a middle long pin shaft is connected with a left middle driving piece, a middle long pin shaft is connected with a right middle driving piece, a lower long pin shaft is connected with a right lower driving piece, a left upper driving piece is connected with the upper end of a left upper connecting rod through a short pin shaft, a left middle driving piece is connected with the lower end of the left upper connecting rod through a short pin shaft, a tail joint of the mechanical finger is connected with the lower end of the left lower connecting rod through a short pin shaft, a right upper driving piece is connected with the upper end of the right upper connecting rod through a short pin shaft, a right middle driving piece is connected with the lower end of the right upper connecting rod through a short pin shaft, a right lower driving piece is connected with the lower end of the right lower connecting rod through a short pin shaft, and the back surface of the tail joint of the mechanical finger is connected with the right lower connecting rod through a lower tension spring.

The preferred palm structure includes steering wheel, stand, finger slewing mechanism, the last disc of palm structure and the lower disc of palm structure, and three steering wheel is 120 respectively and fixes under the palm structure on the disc, and the lower disc of palm structure links to each other with the last disc of palm structure through three stand, and the steering wheel is connected to finger slewing mechanism, installs in the palm structure voice coil loudspeaker voice coil driving motor.

The structure of the voice coil driving motor preferably mainly comprises the following components: the armature sleeve wound by the coil is connected with the driving disc to form a rotor of the voice coil driving motor, and the permanent magnet is arranged on the fixed base to form a stator of the voice coil driving motor.

The preferred long extension spring of voice coil motor connects in unable adjustment base and armature sleeve bottom position, and armature sleeve side mounting has the grating chi to be fixed with the reading head in corresponding position, the armature sleeve is installed on the linear slide rail, and voice coil motor structure wholly makes linear reciprocating motion through the linear slide rail. The armature sleeve wound with the copper coil after being electrified makes reciprocating linear motion through the linear slide rail under the action of an electromagnetic field, and displacement signals of the armature sleeve are measured through the grating ruler and the reading head and converted into digital signals to be output.

The voice coil motor is preferably arranged below the upper disc of the palm structure through a fixed base, a permanent magnet is fixed below the fixed base, an armature sleeve is connected with the fixed base through two long tension springs and moves on a linear sliding rail, a driving disc is fixed below the armature sleeve, the driving disc is in a triangular shape, a triangular tip is connected with a movable connecting rod, the tail end of the movable connecting rod is connected with a long connecting rod, and the tail end of the long connecting rod is connected with an upper left driving piece of the finger structure.

The linear slide rail is preferably fixed on a slide rail fixing platform, the upper end of the slide rail fixing platform is connected with the upper disc of the palm structure, the lower end of the slide rail fixing platform is connected with the lower disc of the palm structure, and the slide rail fixing platform is provided with a reading head.

The preferred driving disk is bound by the upright post and the sliding rail fixing platform, and can only move in the vertical direction, and the finger structure is driven to rotate by applying acting force at the position of the driving disk, wherein the movable connecting rod is connected with the long connecting rod, the movable connecting rod is connected with the driving disk, and the movable connecting rod is horizontally rotated on the driving disk at a certain angle, the near section of the mechanical finger is connected on the finger rotating mechanism, and the finger rotating mechanism is connected with the tail end of the steering engine.

Compared with the prior art, the utility model has the beneficial effects that:

(1) The voice coil linear motor is selected as a main structure of the driving system, so that the whole structure has the characteristics of simple volume, high precision and high frequency response.

(2) The utility model is suitable for grabbing various objects, the palm mechanism is designed into a round shape, and a rotating mechanism is arranged at the tail end of each finger, and the steering engine is used for controlling the palm mechanism, so that the finger mechanism can be conveniently replaced, and various different grabbing modes of underactuated fingers can be realized.

(3) According to the utility model, the steering engine is used for directly controlling the rotation of the finger structure, the power loss is small, the three steering engines are respectively placed at 120 degrees, each steering engine is used for controlling one mechanical finger, the gesture of the finger structure is changeable, and the device is more suitable for grabbing complex objects

(4) The underactuated three-finger clamping structure has a simple finger structure, mainly comprises three modules of a finger mechanism, a palm mechanism and a voice coil driving motor, can be printed and assembled by a 3D printer except the voice coil driving motor, and has low use cost.

Drawings

Fig. 1 is a schematic view of the whole manipulator structure of the industrial robot three-finger gripper.

Fig. 2 is a schematic diagram of the finger structure of the three-finger gripper of the industrial robot of the present utility model.

Fig. 3 is a schematic perspective view of the finger structure of the three-finger gripper of the industrial robot of the present utility model.

Fig. 4 is a schematic diagram of the palm structure of the three-finger gripper of the industrial robot of the present utility model.

Fig. 5 is a schematic diagram of the overall structure of a voice coil driving motor of the three-finger gripper of the industrial robot.

Fig. 6 is a schematic diagram of a part of the voice coil driving motor of the three-finger gripper of the industrial robot.

FIG. 7 is a schematic view of a three-finger gripper for an industrial robot according to the present utility model

In the figure: 1-finger structure; 2-palm structure; 3-a voice coil drive motor; 4-a long connecting rod; 5-an upper tension spring; 1000—a mechanical finger; 1001-mechanical finger end; 1002—mechanical finger middle section; 1003-mechanical finger proximal joint; 1004-lower tension spring; 1005-upper left link; 1006—upper right link; 1007-lower left link; 1008-lower right link; 1009-upper left driver blade; 1010-upper right driving plate; 1011-left middle driving plate; 1012-right middle driving piece; 1013-right lower driving piece; 1014—long pin; 1015-short pin shafts; 1016-lower long pin; 1017-middle-long pin shaft; 1018—pin bosses; 2001-palm structure upper disc; 2002-a column; 2003-steering engine; 2004-lower disc of palm structure; 2005-finger rotation mechanism; 3001—reading head; 3002-grating scale; 3003-armature sleeve; 3004-long tension spring; 3005—a fixed base; 3006-permanent magnets; 3007—a movable link; 3008-drive disk; 3010-a linear slide rail; 3011-a slide rail fixing platform.

Detailed Description

Referring to fig. 1-7, the present utility model provides a technical solution: an industrial robot three-finger gripper comprises a finger structure 1, a palm structure 2, a voice coil driving motor 3, a long connecting rod 4, an upper tension spring 5, a mechanical finger 1000, a mechanical finger tail 1001, a mechanical finger middle 1002, a mechanical finger near 1003, a lower tension spring 1004, an upper left connecting rod 1005, an upper right connecting rod 1006, a lower left connecting rod 1007, a lower right connecting rod 1008, an upper left driving piece 1009, an upper right driving piece 1010, a middle left driving piece 1011, a middle right driving piece 1012, a lower right driving piece 1013, a long pin 1014, a short pin 1015, a lower long pin 1016, a middle long pin 1017, a pin sleeve 1018, an upper palm structure disc 2001, a column 2002, a steering engine 2003, a lower palm structure disc 2004, a finger rotating mechanism 2005, a reading head 3001, a grating ruler 3002, an armature sleeve 3003, a long tension spring 3004, a fixed base 3005, a permanent magnet 3006, a movable connecting rod 3007, a driving disc 3008, a linear slide 3010 and a slide fixing platform 3011.

The finger structure 1 is composed of three identical mechanical fingers 1000, the three identical mechanical fingers 1000 are respectively 120 degrees separated from the bottom of the palm structure 2, the inside of the palm structure 2 comprises a voice coil driving motor 3, the voice coil driving motor 3 is arranged on the palm structure 2 through a fixed base 3005, a driving disc 3008 is fixed at the lower end of the voice coil driving motor 3, and the voice coil driving motor 3 is connected with an upper left driving piece 1009 of the finger structure 1 through a long connecting rod 4.

The finger structure 1 includes three identical mechanical fingers 1000, where the three mechanical fingers 1000 are 120 ° respectively, and are separated under the lower disc 2004 of the palm structure, and fixed on the finger rotating mechanism 2005 by the long pin 1014, and the upper right driving piece 1010 is connected with the finger rotating mechanism 2005 by the upper tension spring 5, and the finger rotating mechanism 2005 is connected with the steering engine 2003.

The mechanical finger 1000, the mechanical finger middle section 1002 and the mechanical finger near section 1003 are connected through a middle long pin 1017, the mechanical finger middle section 1002 and the mechanical finger end section 1001 are connected through a lower long pin 1016, the middle long pin 1017 is connected with a left middle driving piece 1011, the middle long pin 1017 is connected with a right middle driving piece 1012, a lower long pin 1016 is connected with a right lower driving piece 1013, a left upper driving piece 1009 is connected with the upper end of a left upper connecting rod 1005 through a short pin 1015, the left middle driving piece 1009 is connected with the lower end of the left upper connecting rod 1005 through a short pin 1015, the left middle driving piece 1011 is connected with the upper end of the left lower connecting rod 1007 through a short pin 1015, the right upper driving piece 1010 is connected with the upper end of the right upper connecting rod 1006 through a short pin 1015, the right middle driving piece 1012 is connected with the lower end of the right upper connecting rod 1008 through a short pin 1015, the right lower driving piece 1013 is connected with the lower end of the right lower connecting rod 1008 through a short pin 1015, and the back of the mechanical finger end 1001 is connected with the right lower connecting rod 1008 through a lower tension spring 1008.

The palm structure 2 comprises a steering engine 2003, an upright post 2002, a finger rotating mechanism 2005, an upper palm structure disc 2001 and a lower palm structure disc 2004, wherein the three steering engines 2003 are respectively fixed on the lower palm structure disc 2004 at 120 degrees, the lower palm structure disc 2004 is connected with the upper palm structure disc 2001 through the three upright posts 2002, the finger rotating mechanism 2005 is connected with the steering engines 2003, and a voice coil driving motor 3 is arranged in the palm structure 2.

The structure of the voice coil driving motor 3 comprises an armature sleeve 3003 wound by a coil, which is connected with a driving disc 3008 to form a rotor of the voice coil driving motor 3, and a permanent magnet 3006 is arranged on a fixed base 3005 to form a stator of the voice coil driving motor 3.

The long tension spring 3004 of the voice coil driving motor 3 is connected to the fixed base 3005 and the bottom of the armature sleeve 3003, the grating ruler 3002 is installed on the side surface of the armature sleeve 3003, the reading head 3001 is fixed at the corresponding position, the armature sleeve 3003 is installed on the linear sliding rail 3010, the voice coil driving motor 3 is in linear reciprocating motion through the linear sliding rail 3010 as a whole, the armature sleeve 3003 wound with the copper coil after being electrified is in reciprocating linear motion through the linear sliding rail 3010 under the action of an electromagnetic field, and displacement signals of the armature sleeve 3003 are measured through the grating ruler 3002 and the reading head 3001 and converted into digital signals to be output.

The voice coil driving motor 3 is mounted under the upper disc 2001 of the palm structure through a fixing base 3005, a permanent magnet 3006 is fixed under the fixing base 3005, an armature sleeve 3003 is connected with the fixing base 3005 through two long tension springs 3004, the armature sleeve 3003 moves on a linear sliding rail 3010, a driving disc 3008 is fixed under the armature sleeve 3003, the driving disc 3008 is in a triangle shape, a triangle point is connected with a movable connecting rod 3007, the tail end of the movable connecting rod 3007 is connected with a long connecting rod 4, and the tail end of the long connecting rod 4 is connected with an upper left driving piece 1009 of the finger structure 1.

The linear slide 3010 is fixed on a slide fixing platform 3011, the upper end of the slide fixing platform 3011 is connected with an upper disc 2001 of the palm structure, the lower end of the slide fixing platform 3011 is connected with a lower disc 2004 of the palm structure, a reading head 3001 is arranged on the slide fixing platform 3011, and a grating ruler 3002 is arranged on the side face of an armature sleeve 3003.

The driving plate 3008 is restrained by the upright 2002 and the slide rail fixing platform 3011, and can only move in the vertical direction, and the finger structure 1 is driven to rotate by applying a force on the position of the driving plate 3008, wherein the movable connecting rod 3007 is connected with the long connecting rod 4, the movable connecting rod 3007 is connected with the driving plate 3008, the movable connecting rod 3007 horizontally rotates on the driving plate 3008 at a certain angle, the mechanical finger proximal joint 1003 is connected on the finger rotating mechanism 2005, and the finger rotating mechanism 2005 is connected with the tail end of the steering engine 2003.

Due to the underactuated finger structure 1, a certain range of adaptivity is possessed when gripping objects, such as: when an object with the height of only the size of the tail section 1001 of the manipulator is clamped, the manipulator is self-adaptive to pinching; when gripping an object with a height greater than the finger tip 1001, the manipulator will adapt to envelope gripping.

The voice coil driving motor 3 is adopted to drive the finger structure, a finger rotating mechanism 2005 is added at the tail end of each mechanical finger 1000 and is connected with the tail end of a steering engine 2003, the rotating angle of the finger is controlled through the steering engine 2003, the grabbing gesture is changed through the steering engine 2003 according to fig. 7, and the modes of three-finger centering grabbing, three-finger opposite grabbing, two-finger grabbing and the like are adopted.

The armature sleeve 3003 of the wound copper coil after being electrified makes reciprocating linear motion through the linear slide rail 3010 under the action of an electromagnetic field, displacement signals of the armature sleeve 3001 are measured through the grating ruler 3002 and the reading head 3001 and converted into digital signals to be output, the digital signals are processed through a control chip, the grabbing force of the manipulator is monitored and measured in real time, the detected displacement data are converted into digital signals through the grating ruler 3002 and sent to a processor to be processed, meanwhile, the displacement in a unit period can be measured through the grating ruler 3002, and the running speed of the voice coil driving motor 3 can be obtained.

The grating scale 3002 and the reading head 3001 realize the measurement of linear displacement or angular displacement based on the moire fringe forming principle, namely realize the data measurement through the diffraction effect of the grating, convert the detected displacement data into digital signals, and send the digital signals to a processor for processing.

When two fingers grasp, the steering gears 2003 are installed on the lower disc 2004 of the palm structure at 120 degrees under default condition, when two fingers grasp, the steering gears 2003 rotate to opposite positions, the steering gears 2003 rotate to drive the mechanical fingers, and then the grasping action is performed.

Claims

1. An industrial robot three-finger gripper, which is characterized by comprising a finger structure (1), a palm structure (2) and a voice coil driving motor (3);

the finger structure (1) is composed of three identical mechanical fingers (1000), the three identical mechanical fingers (1000) are respectively 120 degrees separated from the bottom of the palm structure (2), the voice coil driving motor (3) is contained in the palm structure (2), the voice coil driving motor (3) is installed on the palm structure (2) through the fixing base (3005), the driving disc (3008) is fixed at the lower end of the voice coil driving motor (3), and the voice coil driving motor is connected with the upper left driving piece (1009) of the finger structure (1) through the long connecting rod (4).

2. The industrial robot three-finger gripper of claim 1, wherein: the finger structure (1) comprises three identical mechanical fingers (1000), the three mechanical fingers (1000) are 120 degrees respectively and are separated below a lower disc (2004) of the palm structure, the three mechanical fingers are fixed on a finger rotating mechanism (2005) through a long pin shaft (1014), an upper right driving piece (1010) is connected with the finger rotating mechanism (2005) through an upper tension spring (5), and the finger rotating mechanism (2005) is connected with a steering engine (2003).

3. The industrial robot three-finger gripper of claim 2, wherein: the mechanical finger (1000), the mechanical finger middle section (1002) and the mechanical finger near section (1003) are connected through a middle long pin shaft (1017), the mechanical finger middle section (1002) and the mechanical finger end section (1001) are connected through a lower long pin shaft (1016), the middle long pin shaft (1017) is connected with a left middle driving piece (1011), the middle long pin shaft (1017) is connected with a right middle driving piece (1012), the lower long pin shaft (1016) is connected with a right lower driving piece (1013), the left upper driving piece (1009) is connected with the upper end of the left upper connecting rod (1005) through a short pin shaft (1015), the left middle driving piece (1011) is connected with the lower end of the left upper connecting rod (1005) through a short pin shaft (1015), the mechanical finger end section (1001) is connected with the lower end of the left lower connecting rod (1007) through a short pin shaft (1015), the right upper driving piece (1010) is connected with the upper end of the right upper connecting rod (1006) through a short pin shaft (1015), the right middle driving piece (1015) is connected with the upper end of the right upper connecting rod (1008) through a short pin shaft (1015), the left middle driving piece (1011) is connected with the lower end of the right lower connecting rod (1008) through a short pin shaft (1015), the left upper end (1008) is connected with the lower end (1008), the back of the tail section (1001) of the mechanical finger is connected with a right lower connecting rod (1008) through a lower tension spring (1004).

4. The industrial robot three-finger gripper of claim 1, wherein: the palm structure (2) comprises steering engines (2003), upright posts (2002), finger rotating mechanisms (2005), an upper palm structure disc (2001) and a lower palm structure disc (2004), wherein the three steering engines (2003) are respectively fixed on the lower palm structure disc (2004) at 120 degrees, the lower palm structure disc (2004) is connected with the upper palm structure disc (2001) through the three upright posts (2002), the finger rotating mechanisms (2005) are connected with the steering engines (2003), and voice coil driving motors (3) are arranged in the palm structure (2).

5. The industrial robot three-finger gripper of claim 1, wherein: the structure of the voice coil driving motor (3) comprises an armature sleeve (3003) wound by a coil and a rotor connected with a driving disc (3008) to form the voice coil driving motor (3), and a permanent magnet (3006) is arranged on a fixed base (3005) to form a stator of the voice coil driving motor (3).

6. The industrial robot three-finger gripper of claim 5, wherein: the voice coil motor comprises a voice coil driving motor (3), a long tension spring (3004) connected to the bottom of a fixed base (3005) and the bottom of an armature sleeve (3003), a grating ruler (3002) is arranged on the side face of the armature sleeve (3003), a reading head (3001) is fixed at the corresponding position, the armature sleeve (3003) is arranged on a linear sliding rail (3010), the voice coil driving motor (3) is in linear reciprocating motion through the linear sliding rail (3010) as a whole, the armature sleeve (3003) wound with a copper coil after being electrified is in reciprocating linear motion through the linear sliding rail (3010) under the action of an electromagnetic field, and displacement signals of the armature sleeve (3003) are measured through the grating ruler (3002) and the reading head (3001) and converted into digital signals to be output.

7. The industrial robot three-finger gripper of claim 6, wherein: the voice coil driving motor (3) is loaded below the upper disc (2001) of the palm structure through a fixed base (3005), a permanent magnet (3006) is fixed below the fixed base (3005), an armature sleeve (3003) is connected with the fixed base (3005) through two long tension springs (3004), the armature sleeve (3003) moves on a linear sliding rail (3010), a driving disc (3008) is fixed below the armature sleeve (3003), the driving disc (3008) is in a triangular shape, a triangular tip is connected with a movable connecting rod (3007), the tail end of the movable connecting rod (3007) is connected with a long connecting rod (4), and the tail end of the long connecting rod (4) is connected with an upper left driving piece (1009) of the finger structure (1).

8. The industrial robot three-finger gripper of claim 6, wherein: the linear slide rail (3010) is fixed on a slide rail fixing platform (3011), the upper end of the slide rail fixing platform (3011) is connected with an upper disc (2001) of the palm structure, the lower end of the slide rail fixing platform (3011) is connected with a lower disc (2004) of the palm structure, and a reading head (3001) is arranged on the slide rail fixing platform (3011).

9. The industrial robot three-finger gripper of claim 7, wherein: the driving disc (3008) is bound by the upright post (2002) and the sliding rail fixing platform (3011), the driving disc can only move in the vertical direction, the finger structure (1) is driven to rotate by applying a force on the position of the driving disc (3008), wherein the movable connecting rod (3007) is connected with the long connecting rod (4), the movable connecting rod (3007) is connected with the driving disc (3008), the movable connecting rod (3007) horizontally rotates on the driving disc (3008) at a certain angle, the upper end of the mechanical finger near joint (1003) is connected to the finger rotating mechanism (2005), and the finger rotating mechanism (2005) is connected with the tail end of the steering engine (2003).