WO2018054034A1

WO2018054034A1 - Robot grasping assembly

Info

Publication number: WO2018054034A1
Application number: PCT/CN2017/079515
Authority: WO
Inventors: 恽为民; 王玉勃; 邓寅喆; 庞作伟
Original assignee: 上海未来伙伴机器人有限公司
Priority date: 2016-09-20
Filing date: 2017-04-06
Publication date: 2018-03-29
Also published as: CN106272394A

Abstract

A robot grasping assembly, wherein four worm gears (2) are driven by a worm (1), and claws (3) are connected to the worm gears (2); when the worm (1) rotates, the four worm gears (2) are driven to rotate in a same direction together, so that the claws (3) fixed to the worm gears (2) are driven by the worm gears (2) to open and close, thereby achieving the purpose of grasping objects. Meanwhile, by means of a self-locking function of the worm gears and worm, the stability of claw grasping may also be improved.

Description

Robotic grabbing component

Technical field

The invention relates to a robotic grabbing component, belonging to the technical field of robots.

Background technique

At present, the transmission mode of the manipulator mainly includes the transmission (wire rope, rope, etc.) and the connecting rod transmission.

腱 generally has a high tensile strength and a very light weight, easy to achieve multi-degree of freedom and long-distance power transmission, saving space and cost, is a zero-return compliant transmission. However, the rigidity of the crucible itself is limited, affecting the positional accuracy; a certain pre-tightening force is required for the control, and friction is easy to occur; the layout of the crucible is easy to generate the coupling of the moment and the movement. These factors all increase the difficulty and complexity of grip control.

The other type is the transmission method using the connecting rod. The utility model is characterized in that the utility model adopts the plane linkage mechanism transmission, and has the advantages of good rigidity, large output force, strong load capacity, easy processing and manufacturing, high precision, and the contact between the components can be realized by geometric closure, which can achieve better implementation. The requirements of the laws of motion and the trajectory of motion, but the design is complicated.

There is another mechanical transmission method. The mechanical transmission is that the claw driver turns the rotation into a linear motion by threading, pulling the spring between the driver and the finger to drive the finger to generate an action, but the disadvantage of this transmission method is the closing time of the finger. Longer, the structure of the fingers is more complicated and prone to failure.

Summary of the invention

The technical problem to be solved by the present invention is to simplify the structure of the robotic gripping system and improve stability and durability.

In order to solve the above technical problem, the present invention discloses a robotic gripping assembly. The gripping assembly includes at least a worm, a first worm wheel, a first hand and a second hand. The first hand is fixed to the first worm gear, the worm and the The first worm wheel meshes; when the worm rotates in the first direction, the first worm wheel is rotated around the worm wheel axis, so that the first hand is close to the second hand; when the worm rotates in the second direction, the worm wheel is driven around the worm wheel axis Rotate, the first hand is away from the second hand.

Further, the gripping assembly further includes a second worm wheel, a third worm wheel and a third hand, a fourth worm wheel and a fourth hand, the second hand is fixed to the axis of the second worm wheel, and the third hand is fixed at the third The axis of the three worm wheel, the fourth hand is fixed to the axis of the fourth worm wheel, and the first worm wheel, the second worm wheel, the third worm wheel and the fourth worm wheel are equally arranged at 90° and simultaneously mesh with the worm; when the worm rotates The first hand, the second hand, the third hand, and the fourth hand are simultaneously close to each other or away from each other.

Further, the first worm wheel, the second worm wheel, the third worm wheel and the fourth worm wheel are disc diameter worms of equal diameter wheel.

Further, the length of the worm is greater than the outer circumference of the worm wheel, enabling the gripping assembly to achieve the gripping operation in the first gripping position and the second gripping position.

Further, the first hand, the second hand, the third hand and the fourth hand are both two-stage hands, and the first and second sections of the two-stage hand are connected by a locking hinge.

Further, the locking hinge has a first locking position and a second locking position, the first locking position adapts the claw to the first grasping position, and the second locking position adapts the claw to the second grasping position usage of.

Further, the second section of the two-stage grip has a first contact surface and a second contact surface, the first contact surface and the second contact surface each having a design for increasing friction.

Further, the design for increasing the friction is to make the first friction surface and the second friction surface a rough surface.

Alternatively, the design to increase the friction means that a rubber sleeve or a silicone sleeve is placed on the end of the second section.

The invention has the beneficial effects that the steel wire is eliminated, and the reliable worm gear mechanism is used as the action executing mechanism, and there is no risk that the steel wire is easy to break, and the grasping force is large at the same time. The self-locking function of the worm gear can also improve the stability of the gripper.

The concept, the specific structure and the technical effects of the present invention will be further described in conjunction with the accompanying drawings in order to fully understand the objects, features and effects of the invention.

DRAWINGS

1 is a schematic view showing a state in which a robot gripping assembly is opened in accordance with a preferred embodiment of the present invention;

2 is a schematic diagram of a gripping state of a robot gripping assembly according to a preferred embodiment of the present invention;

3 is a partial schematic view of a gripper of a robotic gripping assembly in accordance with a preferred embodiment of the present invention.

detailed description

The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims. It should be noted that the drawings of the present invention are in a simplified form and both use non-precise proportions, and are merely for convenience and clarity to assist the purpose of the embodiments of the present invention.

The robotic gripping assembly of the present invention is shown in Figures 1 and 2, Figure 1 is the open state of the gripping assembly, and Figure 2 is the working state of the gripping assembly. The robotic gripping assembly includes a worm 1, four worm gears 2, four grippers 3, and each end of the gripper 3 is fixed at the axial center of the worm wheel 2. The four worm gears 2 are all disk-shaped worm wheels, and the worm wheel 2 is provided with worm teeth at the edge. The four worm gears 2 are equally divided in 90° and simultaneously mesh with the worm teeth of the worm 1.

The length of the worm 1 can be designed to be larger than the outer circumference of the worm wheel 2, enabling the gripping operation of the gripping assembly at two different positions, which are respectively close to the two ends of the worm 1. In order to cooperate with the gripping of the two different positions, the four claws 3 are designed as two-stage grippers, and the first section 31 and the second section 32 of the two-section gripper are connected by a lock hinge 33, as shown in the figure. 3 is shown. The locking hinge 33 has a first locking position and a second locking position, the first locking position and the second locking position being separated by a fixed angle, preferably at an angle of 60°. First paragraph The 31 and second segments 32 can also be secured in a manner other than a locking hinge. The two-stage grasping second section 32 has a first contact surface 34 and a second contact surface 35, both of which have a friction-increasing design. For example, the two contact faces are made rough, or a rubber sleeve or a silicone sleeve is placed over the end of the second segment 32 to increase friction.

The workflow of the present invention:

The four worm gears 2 are driven by the worm 1 , and the worm gear 2 is connected to the claws 3 . When the worm 1 rotates (for example, counterclockwise), the four worm gears 2 are driven to rotate in the same direction around the respective axes, and then three of the four claws are driven. When the gripper 3 is close to the object being grasped, the worm 1 is rotated in the opposite direction (clockwise), and the four grippers 3 are gradually approached to grasp the object. By utilizing the self-locking function of the worm wheel 2 and the worm 1, the stability of the gripper 3 can also be improved.

After the worm 1 is rotated to open the four claws 3, the worm 1 continues to rotate in the original direction (counterclockwise), and the four claws 3 rotate around the axis of the respective worm wheel by nearly 180° and approach each other, thereby realizing another A location grab operation. Prior to this, the second section 32 of the pawl 3 needs to be switched from the first locking position to the second locking position so that the end of the second section 32 catches the object. The rough design on the contact surface or the rubber sleeve (or silicone sleeve) elastic friction surface can increase the friction and make the gripper 3 grip stronger.

The above has described in detail the preferred embodiments of the invention. It will be appreciated that many modifications and variations can be made in the present invention without departing from the scope of the invention. Therefore, any technical solution that can be obtained by a person skilled in the art based on the prior art based on the prior art by logic analysis, reasoning or limited experimentation should be within the scope of protection determined by the claims.

Claims

A robotic grabbing assembly, characterized in that the gripping assembly comprises at least a worm, a first worm wheel, a first hand and a second hand, the first hand being fixed to the first worm wheel, a worm meshes with the first worm wheel; and when the worm rotates in a first direction, the first worm wheel is rotated about the worm wheel axis, so that the first hand is adjacent to the second hand; When the worm rotates in the second direction, the worm wheel is rotated about the worm wheel axis, and the first hand is away from the second hand.
A robotic gripping assembly according to claim 1, wherein said gripping assembly further comprises a second worm wheel, a third worm wheel and a third hand, a fourth worm wheel and a fourth hand, said a second-hand claw is fixed to an axis of the second worm wheel, the third hand is fixed to an axis of the third worm wheel, and the fourth hand is fixed to an axis of the fourth worm wheel, The first worm wheel, the second worm wheel, the third worm wheel, and the fourth worm wheel are equally arranged at 90° and simultaneously mesh with the worm; when the worm rotates, the first hand, The second hand, the third hand, and the fourth hand are simultaneously close to each other or away from each other.
A robotic gripping assembly according to claim 2, wherein said first worm wheel, said second worm wheel, said third worm wheel and said fourth worm wheel are disc-shaped worm wheels of equal diameter.
A robotic gripping assembly according to claim 3, wherein the length of the worm is greater than the outer circumference of the worm wheel, enabling the gripping assembly to be implemented in the first gripping position and the second gripping position. Take the location of the grab operation.
A robotic gripping assembly according to claim 4, wherein said first, second, third and fourth fingers are two-stage The pawl, the first section and the second section of the two-stage gripper are connected by a lock hinge.
A robotic gripping assembly according to claim 5, wherein said locking hinge has a first locking position and a second locking position, said first locking position adapting said hand to the first The use of a gripping position that adapts the gripper to the use of the second gripping position.
A robotic gripping assembly according to claim 6, wherein the second section of the two-stage grip has a first contact surface and a second contact surface, the first contact surface and the first Both contact surfaces are designed to increase friction.
A robotic gripping assembly according to claim 7, wherein said friction increasing design is such that said first friction surface and said second friction surface are roughened.
A robotic gripping assembly according to claim 7, wherein said friction-increasing design means that a rubber sleeve or a silicone sleeve is placed over the end of said second section.