CN221160411U - Palm seat for three-finger manipulator and three-finger manipulator - Google Patents

Abstract

The utility model provides a palm seat for a three-finger manipulator and the three-finger manipulator, and relates to the technical field of manipulators. The palm seat for the three-finger manipulator comprises a palm seat body, a driving assembly, a screw rod, two connecting rods and two rotating shafts, wherein the two rotating shafts are used for being connected with finger roots of two movable fingers in a transmission mode, the two rotating shafts are respectively connected with the palm seat body in a rotating mode and symmetrically arranged on two sides of the screw rod, the two connecting rods are symmetrically distributed on two sides of the screw rod, one ends of the connecting rods are connected with the screw rod through nuts in a threaded mode, the other ends of the connecting rods are connected with the rotating shafts in a transmission mode, and the output end of the driving assembly is used for driving the screw rod to rotate and used for driving the two rotating shafts to synchronously rotate through the two connecting rods. The reduction of the number of the driving structures is realized, and the transmission connection of the lead screw and the connecting rod is simpler, so that the simplification of the rotation of the mechanical finger is realized.

Description

Palm seat for three-finger manipulator and three-finger manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a palm seat for a three-finger manipulator and the three-finger manipulator.

Background

The three-finger manipulator comprises a palm connecting seat, wherein three mechanical finger mounting holes are formed in the palm connecting seat, in order to improve the using flexibility of the manipulator, two of the three mechanical finger mounting holes are generally selected to be respectively connected with the manipulator in a rotating mode, meanwhile, two driving structures are arranged on the palm connecting seat and are respectively correspondingly and drivingly connected with the two manipulator, and therefore the flexible rotation of the two manipulator is achieved.

However, because the rotation of two mechanical fingers is respectively realized by corresponding driving structures, the structure of the palm connecting seat is more complex to a certain extent, and the movement of the mechanical fingers requires the same operation of the two driving structures, so that the rotation process of the mechanical fingers is more complex.

Disclosure of utility model

The utility model solves the problems that: how to simplify the rotation of the mechanical finger.

In order to solve the problems, in one aspect, the utility model provides a palm seat for a three-finger manipulator, which comprises a palm seat body, a driving assembly, a screw rod, two connecting rods and two rotating shafts, wherein the two rotating shafts are used for being in transmission connection with finger roots of two movable fingers, the two rotating shafts are respectively in rotational connection with the palm seat body and are symmetrically arranged on two sides of the screw rod, the two connecting rods are symmetrically distributed on two sides of the screw rod, one end of each connecting rod is in threaded connection with the screw rod through a nut, the other end of each connecting rod is in transmission connection with the rotating shafts, and the output end of the driving assembly is used for driving the screw rod to rotate and is used for driving the two rotating shafts to synchronously rotate through the two connecting rods.

Optionally, the driving assembly comprises a motor and a gear transmission assembly, and an output end of the motor is in driving connection with the screw rod through the gear transmission assembly.

Optionally, two ends of the connecting rod are hinged with the nut and the outer wall of the rotating shaft respectively, the two hinge shafts are parallel, the axes of the two rotating shafts are perpendicular to the screw rod, and the screw rod, the connecting rod and the two rotating shafts are arranged on the same side of the palm seat body.

Optionally, two first mounting holes are formed in the palm seat body, and the rotating shaft is mounted in the first mounting holes through the shaft sleeve and rotates relative to the first mounting holes.

Optionally, an installation cavity is formed in the palm seat body, and the driving assembly, the lead screw and the two connecting rods are all installed in the installation cavity.

Optionally, the palm seat for three-finger manipulator still includes the palm top cap, the palm seat body still includes the second mounting hole that is used for being connected with fixed finger, palm top cap fixed mounting in on the palm seat body, two first mounting hole with the second mounting hole is around palm top cap distributes, just the palm top cap is used for fixed finger and two the root of a finger of movable finger offsets.

Optionally, two sliding grooves are formed in the palm top cover and are respectively communicated with the two first mounting holes, and the sliding grooves are used for being in sliding connection with the finger roots of the movable fingers.

Optionally, a positioning groove is further formed in the palm top cover, the positioning groove is communicated with the second mounting hole, and the positioning groove is used for being connected with the second mounting hole to fix the finger root of the finger in a clamping mode.

Optionally, the palm rest body further comprises a connecting portion, an external thread is arranged on the connecting portion, and the connecting portion is used for being in threaded connection with the mechanical arm through the external thread.

Compared with the prior art, the palm seat for the three-finger manipulator is rotationally connected with the palm seat body through the two rotating shafts which are respectively connected with the two movable fingers, and the two connecting rods and the screw rod which are in transmission connection are arranged between the two rotating shafts and the driving assembly, so that power output by the output end of the driving assembly can be transmitted to the two rotating shafts through the screw rod and the two connecting rods, the rotation of the two rotating shafts is realized, in the process of rotating the screw rod, the two connecting rods symmetrically arranged at the two sides of the screw rod can ensure the stability of power transmission through the threaded connection between the nuts and the screw rod, and therefore, the reduction of the number of driving structures is realized relative to the rotation of the two mechanical fingers respectively realized by corresponding driving structures, the driving structure is realized, the transmission connection of the screw rod and the connecting rod is simpler, and the simplification of the rotation of the mechanical fingers is realized.

On the other hand, the utility model also provides a three-finger manipulator which comprises the palm seat for the three-finger manipulator.

The advantages of the three-finger manipulator with respect to the prior art are the same as those of the palm rest for the three-finger manipulator, and will not be described here.

Drawings

Fig. 1 is a schematic structural diagram of a palm rest for a three-finger manipulator according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a palm rest according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a palm top cover according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a palm top cover according to an embodiment of the utility model.

Reference numerals illustrate:

1-a palm rest; 11-a first mounting hole; 12-a mounting cavity; 13-a second mounting hole; 14-external threads; 2-a lead screw; 3-connecting rod; 4-rotating shaft; 5-palm top cap; 51-sliding grooves; 52-positioning groove.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

The Z-axis in the drawing represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; the Y-axis in the drawing represents a horizontal position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis is directed) represents the left side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) represents the right side; the X-axis in the drawing indicates a front-rear position, and the positive direction of the X-axis (i.e., the arrow of the X-axis is directed) indicates a rear side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates a front side. It should also be noted that the foregoing Z-axis, X-axis, and Y-axis are meant to be illustrative only and to simplify the description of the present utility model, and are not meant to indicate or imply that the devices or elements referred to must be oriented, configured and operated in a particular orientation and are not intended to be limiting.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein.

The utility model provides a palm seat for a three-finger manipulator, which is shown in a combination 1 and comprises a palm seat body 1, a driving assembly, a lead screw 2, two connecting rods 3 and two rotating shafts 4 used for being in transmission connection with finger roots of two movable fingers, wherein the two rotating shafts 4 are respectively in rotational connection with the palm seat body 1 and are symmetrically arranged on two sides of the lead screw 2, the two connecting rods 3 are symmetrically distributed on two sides of the lead screw 2, one end of each connecting rod 3 is in threaded connection with the lead screw 2 through a nut, the other end of each connecting rod is in transmission connection with the corresponding rotating shaft 4, and the output end of the driving assembly is used for driving the lead screw 2 to rotate and is used for driving the two rotating shafts 4 to synchronously rotate through the two connecting rods 3.

Specifically, the Y axis is the left-right direction of the palm rest body 1, and the X axis is the front-rear direction of the palm rest body 1. The lead screw 2 extends along the X axle, and the both ends of lead screw 2 are installed on palm seat body 1 through the bearing frame respectively, and two pivot 4 symmetric distributions are in the both sides of lead screw 2, and two pivot 4 pass through the bearing respectively with palm seat body 1 rotate and be connected to can rotate around self axis relative palm seat body 1, and the syntropy axle head of two pivot 4 is used for being connected with the transmission of the root of the finger of two movable fingers respectively, for example, the root of the finger of movable finger is provided with the pilot hole, and the axle head of pivot 4 is assembled in this pilot hole. The two connecting rods 3 are symmetrically distributed on the left side and the right side of the screw rod 2, nuts are assembled on the screw rod 2, one end of each connecting rod 3 is hinged with the nuts, the other end of each connecting rod is hinged with the circumferential side wall of the corresponding rotating shaft 4 through a pin shaft, and the output end of the driving assembly is used for driving the screw rod 2 to rotate and driving the two rotating shafts 4 to rotate through the two connecting rods 3. Taking the example that the nut is located the rear end of the lead screw 2 at the beginning, when the driving assembly starts, the output end of the driving assembly drives the lead screw 2 to rotate, the nut moves towards the front end of the lead screw 2 from the rear end of the lead screw 2 through the rotation of the lead screw 2, the nut applies driving force to the connecting rods 3, under the action of the driving force, the two connecting rods 3 are far away from each other so that the connecting rods 3 move towards the rotating shaft 4, and as the connecting rods 3 are hinged with the outer wall of the rotating shaft 4, the driving force can apply thrust to the circumferential side wall of the rotating shaft 4 through the connecting rods 3, the rotating shaft 4 can rotate relative to the palm seat body 1 around the axis of the driving force, and then the two connecting rods 3 can simultaneously realize the rotation of the two rotating shafts 4 relative to the palm seat body 1 respectively, so that the two movable fingers assembled with the two rotating shafts 4 can synchronously rotate, for example, the two movable fingers can rotate around the axis directions of the respective finger roots. Further, since the two rotating shafts 4 and the two connecting rods 3 are symmetrically distributed on two sides of the screw rod 2, the rotating directions of the two rotating shafts 4 are driven by the connecting rods 3 to be opposite, and then the adjustment of the relative positions of the finger flanks (the finger flanks are used for contacting with an object) of the two movable fingers can be realized, for example, the rotating angles of the two rotating shafts 4 are adjusted, the finger flanks of the two movable fingers are parallel, and the object is pinched by the two movable fingers through the movement of the movable finger joints; or the rotation angles of the two rotating shafts 4 are adjusted so that the finger flanks of the other two movable fingers are coplanar and parallel to the finger flanks of the fixed fingers, and then the two movable fingers are matched with the fixed fingers through the movement of the finger joints of the movable fingers and the fixed fingers so as to pinch the object by three fingers; or the rotation angles of the two rotating shafts 4 are adjusted, so that the finger flanks of the two movable fingers are not coplanar with the finger flanks of the fixed fingers, and three grabbing objects are realized through the movement of the movable fingers and the finger joints of the fixed fingers.

In this embodiment, the two rotating shafts 4 respectively connected with the two movable fingers are rotationally connected with the palm seat body 1, and the two connecting rods 3 and the screw rod 2 which are in transmission connection are arranged between the two rotating shafts 4 and the driving component, so that the power output by the output end of the driving component can be transmitted to the two rotating shafts 4 through the screw rod 2 and the two connecting rods 3, the rotation of the two rotating shafts 4 is realized, and in the process of rotating the screw rod 2, the two connecting rods 3 symmetrically arranged at two sides of the screw rod 2 can ensure the stability of power transmission through the threaded connection between the nuts and the screw rod 2, so that the reduction of the number of driving structures is realized relative to the rotation of the two mechanical fingers respectively realized by corresponding driving structures, the driving connection of the screw rod 2 and the connecting rods 3 is simpler, and the simplification of the rotation of the mechanical fingers is realized.

Optionally, two ends of the connecting rod 3 are hinged with the outer walls of the nut and the rotating shaft 4 respectively, two hinge shafts are parallel, the axes of the two rotating shafts 4 are perpendicular to the lead screw, and the lead screw 2, the connecting rod 3 and the two rotating shafts 4 are arranged on the same side of the palm seat body 1. Specifically, be provided with the connection platform on the outer wall of pivot 4, this connection platform passes through the articulated shaft and articulates with the one end of connecting rod 3, and the other end of connecting rod 3 passes through the articulated shaft and articulates with the nut, and the axis and the lead screw of two pivots 4 are perpendicular, and lead screw 2, connecting rod 3 and two pivots 4 are in the coplanar roughly, all set up in the same side of palm seat body 1. So, both ends through connecting rod 3 are articulated with the outer wall of nut and pivot 4 respectively, and two articulated axles are parallel, and the axis and the lead screw of two pivots 4 are perpendicular, and lead screw 2, connecting rod 3 and two pivots 4 all set up in the same one side of palm seat body 1 for connecting rod 3 only moves in the plane perpendicular with pivot 4 axis, thereby avoids connecting rod 3 to take place mechanical jamming with nut or pivot 4 respectively, thereby improves the stability in use of lead screw 2, connecting rod 3 and two pivots 4.

Optionally, the driving assembly comprises a motor and a gear transmission assembly, and the output end of the motor is in driving connection with the screw rod 2 through the gear transmission assembly.

Specifically, the motor is located the right-hand member of lead screw 2, and the output of motor passes through gear drive assembly and lead screw 2 drive connection.

So, through the output of motor through gear drive subassembly with lead screw 2 drive connection, gear drive subassembly improves motor power take off's stability to improve drive lead screw 2 pivoted efficiency.

Optionally, the gear transmission assembly comprises a driving gear and a driven gear, the diameter of the driven gear is larger than that of the driving gear, the driving gear is connected with the output end of the motor, and the driven gear is in transmission connection with the screw rod 2.

Specifically, the driving gear is in key connection with the output end of the motor, and the driven gear is in key connection with the lead screw 2.

So, the diameter through driven gear is greater than the diameter of driving gear, and driving gear is connected with the output of motor, and driven gear is connected with lead screw 2 transmission, and driving gear and driven gear constitute gear reduction structure to the rotational speed of regulation and control lead screw 2, and then the rotation precision of regulation and control pivot 4 of being convenient for.

Alternatively, as shown in fig. 1 and 4, the palm rest 1 is provided with two first mounting holes 11, and the rotating shaft 4 is mounted on the first mounting holes 11 through a shaft sleeve and rotates relative to the first mounting holes 11.

Specifically, the inner ring of the shaft sleeve is sleeved on the outer wall of the rotating shaft 4, the outer ring of the shaft sleeve is assembled in the first mounting hole 11, and the finger root of the movable finger is in transmission connection with the shaft end of the rotating shaft 4.

So, be provided with two first mounting holes 11 on the palm seat 1, pivot 4 is installed in first mounting hole 11 and is rotated relative first mounting hole 11 through the axle sleeve, and so, the axle sleeve can reduce the friction between pivot 4 and the first mounting hole 11 to improve the rotation efficiency of activity finger.

Optionally, as shown in fig. 2, the palm rest body 1 is provided with a mounting cavity 12, and the driving assembly, the screw rod 2 and the two connecting rods 3 are all mounted in the mounting cavity 12.

Specifically, the mounting cavity 12 communicates with the first mounting hole 11, and the drive assembly, the lead screw 2, and the two links 3 are all mounted to the mounting cavity 12.

So, all install the installation cavity 12 that sets up on palm seat body 1 through drive assembly, lead screw 2 and two connecting rods 3, installation cavity 12 keeps apart drive assembly, lead screw 2 and two connecting rods 3 and external environment to form the environment of relative seal on palm seat body 1, avoid drive assembly, lead screw 2 and two connecting rods 3 to expose, in order to protect drive assembly, lead screw 2 and two connecting rods 3.

Optionally, as shown in fig. 2 and 3, the palm rest for the three-finger manipulator further includes a palm top cover 5, the palm rest body 1 further includes a second mounting hole 13 for connecting with a fixed finger, the palm top cover 5 is fixedly mounted on the palm rest body 1, two first mounting holes 11 and second mounting holes 13 are distributed around the palm top cover 5, and the palm top cover 5 is used for propping up the finger roots of the fixed finger and the two movable fingers.

Specifically, the two first mounting holes 11 and the second mounting hole 13 are distributed around the palm top cover 5, and the palm top cover 5 is fixedly mounted on the palm rest body 1. The fixed finger (not shown) and the two movable fingers are close to each other to grasp the object, and the finger bases of the fixed finger and the two movable fingers bear the load of the object and have a tendency to be close to each other, because the side wall of the palm top cover 5 can respectively prop against the finger bases of the fixed finger (not shown) and the two movable fingers, the palm top cover 5 can overcome the mutual close of the finger bases of the fixed finger and the two movable fingers.

Thus, the palm top cover 5 is fixedly mounted on the palm seat body 1, the two first mounting holes 11 and the second mounting holes 13 are distributed around the palm top cover 5, and the palm top cover 5 is used for propping against the finger roots of the fixed fingers and the two movable fingers, so that when the fixed fingers (not shown in the figure) and the two movable fingers are close to each other to grab objects, the palm top cover 5 improves the stability of the finger roots of the fixed fingers (not shown in the figure) and the two movable fingers.

Optionally, as shown in fig. 3 and 4, the palm top cover 5 is provided with two sliding grooves 51, the two sliding grooves 51 are respectively communicated with the two first mounting holes 11, and the sliding grooves 51 are used for sliding connection with the finger roots of the movable fingers.

Specifically, two sliding grooves 51 are all disposed on the side wall of the palm top cover 5 and all extend along the circumferential direction of the rotating shaft 4, the two sliding grooves 51 are respectively communicated with the two first mounting holes 11, and the sliding grooves 51 are used for sliding connection with the finger roots of the movable fingers connected with the first mounting holes 11.

So, be provided with two spouts 51 on the palm top cap 5, two spouts 51 communicate with two first mounting holes 11 respectively, and spout 51 is used for with the root sliding connection of movable finger, and two spouts 51 form on the palm top cap 5 and dodge the space, simultaneously, spout 51 can lead the rotation of mechanical finger root, like this, two spouts 51 not only can support the root of two movable fingers respectively, can avoid interfering the rotation of the root of movable finger yet.

Optionally, as shown in fig. 3 to 4, the palm top cover 5 is further provided with a positioning groove 52, the positioning groove 52 is communicated with the second mounting hole 13, and the positioning groove 52 is used for clamping the finger root of the fixed finger connected with the second mounting hole 13.

Specifically, the shape of the second mounting hole 13 matches the shape of the finger-root of the fixed finger, and the positioning groove 52 is engaged with the finger-root of the fixed finger.

In this way, the positioning groove 52 communicates with the second mounting hole 13, and the positioning groove 52 is used for the finger root engagement of the fixed finger connected to the second mounting hole 13, so that the stability of the finger root of the fixed finger connected to the second mounting hole 13 can be improved.

Optionally, the palm rest body 1 further includes a connection portion, on which an external thread 14 is provided, and the connection portion is used for being in threaded connection with the mechanical arm through the external thread 14.

Specifically, the connecting part is located at the bottom of the palm seat body 1, the connecting part is in a columnar structure, external threads 14 are arranged on the outer wall of the connecting part, and the connecting part is used for being in threaded connection with the mechanical arm through the external threads.

Thus, the connecting part is used for being in threaded connection with the mechanical arm through the external thread 14, so that the stability of the connection between the palm rest body 1 and the mechanical arm can be improved.

In another aspect, another embodiment of the present utility model further provides a three-finger manipulator, including a palm rest for a three-finger manipulator as described above.

The advantages of the three-finger manipulator with respect to the prior art are the same as those of the palm rest for the three-finger manipulator, and will not be described here.

Although the utility model is disclosed above, the scope of the utility model is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the utility model.

Claims (10)

1. The utility model provides a palm seat for three indicate manipulator, its characterized in that, including palm seat body (1), drive assembly, lead screw (2), two connecting rods (3) and be used for with two movable fingers indicate two pivot (4) that root transmission is connected, two pivot (4) respectively with palm seat body (1) rotate and be connected, and the symmetry set up in the both sides of lead screw (2), two connecting rod (3) symmetric distribution is in the both sides of lead screw (2), one end of connecting rod (3) pass through the nut with lead screw (2) threaded connection, the other end with pivot (4) transmission is connected, drive assembly's output is used for the drive lead screw (2) rotate, and be used for through two connecting rod (3) drive two pivot (4) synchronous rotation.

2. The palm rest for a three-finger manipulator of claim 1, wherein the drive assembly comprises a motor and a gear assembly, an output of the motor being drivingly connected to the lead screw through the gear assembly.

3. Palm rest for a three finger manipulator according to claim 1, characterized in that the two ends of the connecting rod (3) are hinged with the nut and the outer wall of the rotating shaft (4) respectively, and the two hinge shafts are parallel, the axis of the two rotating shafts (4) is perpendicular to the screw rod (2), and the screw rod (2), the connecting rod (3) and the two rotating shafts (4) are all arranged on the same side of the palm rest body (1).

4. Palm rest for a three finger manipulator according to claim 1, characterized in that the palm rest body (1) is provided with two first mounting holes (11), the shaft (4) is mounted in the first mounting holes (11) through a shaft sleeve and rotates relative to the first mounting holes (11).

5. Palm rest for a three finger manipulator according to claim 1, characterized in that the palm rest body (1) is provided with a mounting cavity (12), the drive assembly, the lead screw (2) and both the connecting rods (3) are mounted in the mounting cavity (12).

6. Palm rest for a three-finger manipulator according to claim 4, further comprising a palm top cover (5), the palm rest body (1) further comprising a second mounting hole (13) for connection with a fixed finger, the palm top cover (5) being fixedly mounted on the palm rest body (1), two of the first mounting holes (11) and the second mounting holes (13) being distributed around the palm top cover (5), and the palm top cover (5) being for abutment with the fixed finger and the finger roots of two of the movable fingers.

7. Palm rest for a three-finger manipulator according to claim 6, characterized in that the palm top cover (5) is provided with two runners (51), two runners (51) are respectively in communication with two first mounting holes (11), the runners (51) are for sliding connection with the roots of the movable fingers.

8. The palm rest for a three-finger manipulator according to claim 6, wherein a positioning groove (52) is further provided on the palm top cover (5), the positioning groove (52) is communicated with the second mounting hole (13), and the positioning groove (52) is used for being connected with the second mounting hole (13) in a finger root clamping manner.

9. Palm rest for a three-finger manipulator according to claim 1, characterized in that the palm rest body (1) further comprises a connection part, on which an external thread (14) is provided, for threaded connection with a manipulator via the external thread.

10. A three-finger manipulator comprising a palm rest for a three-finger manipulator according to any one of claims 1 to 9.